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The 2017 Suzuki Grand Vitara range of configurations is currently priced from $14,990.
The 2017 Suzuki Grand Vitara carries a braked towing capacity of up to 1850 Kg, but check to ensure this applies to the configuration you're considering.
The Suzuki Grand Vitara is also known as Suzuki Escudo in markets outside Australia.
Most small SUVs are all-wheel drive, as is your SX4, which means it's an on-demand four-wheel drive system rather than a traditional one. If the SX4 does what you want you could try a Suzuki Grand Vitara, or a Nissan X-Trail.
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You first need to decide the level of off-roading you will be doing because that will determine if you need a four-wheel drive or you only need an all-wheel drive SUV. From what you have told us I suspect that an SUV, such as a Kia Sorento, Toyota Kluger, or a Nissan X-Trail would be the best all-round vehicle for you. All of those would fit your budget, they will all go off-road to a reasonable degree, and they're all reliable. The Mitsubishi Triton is a hard-riding ute, which I don't think is what you want, but the Suzuki Grand Vitara is a good vehicle and would also fit your needs.
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You need to simplify your needs and wants. Most, if not all new cars have the sort of features you want. The more pressing issue is the choice of SUV or hatch. While a hatch might be best for your city needs, it probably wouldn't suit your camping needs, so I would rule that out and focus on a compact SUV. Of all the models you have looked at I would select the Suzuki Grand Vitara.
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The Suzuki Grand Vitara 2017 prices range from $10,230 for the basic trim level SUV Urban SE (4x2) to $21,010 for the top of the range SUV Sports (4x4).