It would seem like you answered your own question, with the Outback or Forester being perfect for what you are looking for. You might also consider a Crosstrek, which is essentially a lifted Impreza. If you go off road a lot, you will benefit from Subaru's full time AWD, versus the FWD based systems from other crossover SUV's (Mazda, Nissan, Honda, Toyota, etc....).
Can't speak much to the reliability, other than that it is a bit of a double edged sword going to the older Subaru's. Some of the previous generation boxer 4 engines had oil leak issues.