While I am not a fan of crossover SUV's, they do fit the bill for what you are looking for as far as SUV traits combined with the need for mileage. Most larger truck based SUV's tend to get very poor mileage. The only semi-rugged looking compact SUV's that I can think of that also gets decent mileage is the Subaru Forester or the Jeep Patriot/Renegade. Unfortunately Jeep's aren't known for their reliability.
You can jump up to the midsize SUV class and you are looking at more space and some more truck like options, but highway mileage in the mid-low 20's. Thinking about options like the Honda Pilot, Toyota Highlander, Jeep Grand Cherokee etc..... True truck based SUV's like a Nissan Xterra, Toyota 4Runner, etc.... tend to be heavier and get mileage of around 20mpg highway. Also as you move into these more expensive SUV's your budget will get you older cars with less reliability. Truck based models also tend to have higher floors in the cargo area and may hold less totes.
I guess my overall thought is that Rugged and SUV looking vehicles tend not to have traits that lend themselves to getting great mileage.