From the 4x4 use you describe there is a few soft roaders that would also do ok . Nissan x-Trail 2.5 petrol or diesel , Subaru Forester ,
Toyota Rav 4 , except they don't have the space of a long wheel base vehicle . Sometimes a lighter vehicle with short wheelbase will go places a heavy LWB vehicle can't . I remember one time at Mungindi I drove past a bogged Land Rover and a bogged truck in my Suzuki Swift front wheel drive . The surface was just dry enough so the light Suzuki never broke the crust and I also drove along the edge of the table drain in places where there was no wheel ruts . Underneath that dry crust was still wet mud . I just waved as I drove by because there was nothing I could do with my little buzz box . I currently drive a Nissan X-trail 2.5 petrol STL , to do exactly what you describe and on a formed road or track even in wet conditions it is just as capable as the bigger 4x4x's as long as the road is not ripped to hell by trucks etc . Ground clearance , towing capacity and luggage space is the main restrictions compared to a bigger 4x4 but fuel economy is better .
Watch this video it shows a Nissan X-trail Ti T31 ( top model ) ( traction control & limited slip model same as STL model ) helping a land Rover out of a bog . Now the real eye opener that most people miss completely is the X-Trail does it without any wheel slip on ROAD tires on mud ! People who think the x-trails wheels are spinning are seeing moisture from the exhaust not excessive wheel spin . I don't recommend that owners of CV type transmission vehicles do a lot of recovery work as it can damage the drive belts if you push them too far . They are not a manual Nissan Patrol or Landcruiser .
In Europe they did traction tests on many popular 4x4's to test electronic traction control systems and limited slip diffs etc . Only 3 vehicles performed as advertised as far as traction control working properly , Mercedes 4x4 , Subaru and Nissan X-Trail . Big 4x4's with no electronic traction control would not move anywhere with 2 wheels on rollers but the 3 above kept moving .
https://www.youtube.com/watch?v=aEYbeRrUPAU