So, we did numerous multi-thousand-mile road trips, the longest being 5,200 miles in 2018 with BMW X5 35d (exceptional, and IMO still best road trip vehicle we had). We also had a Toyota Sienna after the X5 (multiple road trips) as the X5 became small for two kids and their stuff. Then we had Atlas, and now we have Sequoia.
So, I will try to give you my perspective based on your criteria.
1. You will be hauling camping gear? Off road? FORGET minivan! Yes, it is most practical, but guess what is one of the reasons why we got rid of our Sienna, which was AWD? Clearance! While SIenna had decent 6.8" clearance, once you load it, it drops, and the bike rack in the back will always scratch the road when you encounter even the smallest dip. Plus 6.8" is not a lot with that wheel base. Just forget it unless you are staying on asphalt 100% of the time.
2. SUV? OK, so you don't want big V8, you want decent mpg, so that means BOF SUV is out of the question. We had VW Atlas. IMO, it is the most practical SUV in that category. Huge first and second row, and one of the largest third rows. I drove Grand Highlander, new and old Pilot, and IMO, they are not even close to Atlas in practicality. GHL has too small first and second row, and the new Pilot is smaller, albeit not bad for its size if you can get away with it (which I think you could). GHL seems rushed as Toyota realized regular HL won't cut it against the competition. Horrible seats, tight first row, second row the same. The third row is OK, not bad.
We got rid of Atlas bcs. windshield issue. I really liked that vehicle. Good turbo engine, decent AWD, 8" clearance, interior design typical utilitarian German, like they used axe to design it, which is good. We loved it. Did several multi-thousands miles road trips, the longest being 4,200mls. However, the windshield kept cracking, and I lost patience. We would keep it even though we had third child on the way. However, once we got rid of it, I started to look for a vehicle that can do the road trips we are doing, but with 3 kids, their gear, bikes, grill, cooler, etc. I checked GHL and Pilot as I said. We could probably get away with both, barely. I would give preference to Pilot as I think it is better executed vehicle. It has excellent AWD, Trail Sport is really good, more outdoorsy SUV with true underbody protection. The engine is a bit gutless, especially in the Trail Sport version, but not too annoying. We realized that it would be a struggle with three kids, so I got Sequoia.
Still, IMO best road trip vehicle we had was that BMW X5. Superior performance on the road, excellent power, brakes, handling, it is just joy to drive, which kind of matters when you do multi-thousands miles road trip (I absolutely hated Sienna). Last October we rented X7 in Hawaii, and if I did not have a third kid now, that one would be in the garage. Exceptional engine and mil-hybrid. 29mpg in 5,400lbs vehicle that corners like some serious sports car. Power is always there, brakes are exceptional, you can adjust height. Really good full time AWD. You just need beefier tires, and it is good easy-mild off road vehicle.