I feel like you would be happy with the 2018 Subaru Crosstrek 2.0i Premium. You can get all the available safety features and still stay in your budget. It has 8.7 inches of ground clearance. MPG is 33/27 Hwy/City. It coms standard with AWD.
Another interesting option is the 2018 RAV4 Adventure. I only know some features that are unique to it and it isn't out yet. It'll also probably be out of your price range.