If measured in decades...

I'm looking for a replacement for my 2002 Toyota Highlander (base model, 4 cylinder). I would like it to do all the things the Highlander does;

~30mpg

Ability to tow a small trailer (sub 2k lbs)

Ability to fit a modern MTB inside (front wheel off acceptable)

Ability to sleep a 6 foot tall person (I sleep in a "recliner" position)

but I'm “tightfisted” to a fault so I want to be sure I'm getting the best quality my budget ($30k) will allow. I'm largely concerned about how long my investment will last. Again using the Highlander as a reference, $30k for 25 years is a pretty good value IMO.

I can guess at a few of the common suggestions but I wanted to see if there were any options I may not be considering.