I used to own a 2003 Honda Element that I did minor customization to. Great indoor sleeper but couldn't take me to far off pavement. In early 2013 I bought a very low mileage 2011 FJ Cruiser. I'm the poster child for the statement "I will never need that" and since the spring of 2013 have added 2 Ham radios, CB, dual batteries (since removed), ArkPak battery pack, portable solar, Warrior roof rack, Expedition One front bumper with winch (Installing soon), ARB and now larger Indel B fridge with slide out, OME suspension. The big I will never need that was a M416 trailer, since sold, and then my "I built this" beast mode trailer. My trailer started as a M116A3 flatbed generator trailer and became something that is very similar to a Turtleback Trailer. In fact I worked at TB last year and the owner Dave was a huge help in making my DIY trailer a hell of a lot nicer. It has had a few iterations including adding a larger tent.
@Gunnermoose and I will be rebuilding the kitchen cabinet at some point.
Anyway , here are the glamor shots. In 3 years I have put nearly 60,000 miles on the truck. The vast majority being long overland trips. I carry a lot of "what if" stuff but it doesn't matter if you start out with a basic off-road vehicle and ground tent. Just get outdoors, talk to lots of folks and figure out what works for you over time.
I will dig up a link to my build thread on Expedition Portal and post it here.
We also own a 2016 Subaru Forrester and love it. Wife had to get the Turbo but it is a very capable vehicle. I'm surprised at how much I like it.