Best Adventure-Ready SUV for Off-Road Camping and Cross-Country Trips

Planning frequent trips to Himachal and Uttarakhand, so I need something reliable in slush and steep climbs, but not as hardcore as a Thar. Budget is flexible, but looking for the sweet spot between comfort and capability. Main use will be highway cruising with occasional rough patches. My Duster AWD served well earlier - wondering if these newer options are significantly better?

Looking to get serious about off-roading and want something that can handle the toughest trails. Been researching these four options but can't decide. The Thar and Gurkha seem purpose-built, Jimny's compact and capable, while the Wrangler is the legend. What would you go for if money wasn't the main concern and pure capability mattered most?

I recently test drove a friend's old Duster and was impressed by how solid it felt compared to newer cars. With the new Duster coming soon, I'm curious how it'll stack up against today's safety-focused SUVs. Looking for opinions on which SUV in this price range feels the most robust and secure - especially important given our road conditions and highway speeds.