Any 1st gen 4Runner with the removable top is the best.  It's a truck but it has a shell on it - and you can get to the back without going around.  Very nice in cold and rainy weather as well - your stuff stays dry.  Best of both worlds, IMO, especially for what you say you want it for - learning to wheel and camping and such.  2nd Gen is frankly just a very nice SUV.