Vehicle choice advice

A $10k gladiator will be completely clapped out. And its hardly a reliable rig when new.

$10k will buy a nice Honda Crf300l. This budget doesn't compute.

An XJ is a great option for a couple. Worthless for a family of 4.

This is why we get rid of the family car and replace it with something camp worthy. 10k + a new truck? Maybe. Sell everything. Start over. Or abandon overlanding, and car camp, or air travel.

The wife's request for all 4 under one roof, is RV'ing. Id switch to RV'ing, or toss the wife's request.
 
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We have your needs almost exactly and use an 1995 80 Series Landcruiser. Really surprised no one else has mentioned one of these. We do NOT RTT, but you do you. My son does and uses a RTT that he throws in my face when we first get to camp. We use the Gazelle T Hex Hub and love the space.