If you can find one within your budget, the Ford Maverick probably comes closest to what you are looking for. It and the similar Hyundai Santa Cruz (which might also work well for you) have a somewhat tighter turning circle than regular pickups along with more compact exterior dimensions.
Next up the price and size scale is the Honda Ridgeline, which has been out for much longer so you might be more likely to find one within your budget. Honda's safety tech package has been standard on all trim levels since 2020, and on the upper trim levels since 2017. The turning circle is about four feet larger than those of the Ford and Hyundai.
For reliability it's probably hard to beat the Toyota Tacoma, but its ride will be bumpier. It's turning radius is the tightest of the conventional pickups, and nearly as tight as those of the Maverick and Santa Cruz. The Tacoma has included a package of safety tech since the 2018 model year.
The Ford Ranger should be about average in reliability and more comfortable than the Tacoma. It's turning circle is a couple feet larger, though.
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More about the Santa Cruz 
More about the Ridgeline
