I bought a new Dodge Ram 1500 4x4 SWB single cab in 1996 (still got it). 5.2 V8/Auto trans, and nicely equipped. Came with solid axles front & rear. It was my daily driver for years getting about 12 MPG +/- (a little more before I lifted it 2", 4.10 gears, 285/75/16" [33"] tires). In 2008 I was transferred to WA, and at the time gas was $4.50 (in 2008!) and I was going to have a 45 mile round-trip commute to work. So I bought a new 2008 Toyota Yaris (basic 5-speed) as a daily driver. Still got it too. Figure MPG low to mid 30's. I think I've got about 65,000 problem-free miles on the Yaris now. Driving it helps keep the miles off my truck and Jeep (Jeep - 98 TJ 2.5/five-speed, 4.88 gears, 285/75/16" [33"] tires, 3.5" lift, locked front & rear). Jeep gets about 15 MPG +/-.
Truck has 225,000 miles on it. 3rd repaint job (never any rust or dents really). ARE top. True-tracs front & rear. Looks about new. Very easy and comfortable to drive.
So saying all that....
I would love to have a new 3/4 ton Dodge Ram 4x4 with the hemi and the Power Wagon option. Would probably get a few more MPGs... a few more. Would probably ride nicer than what I've got now too. But that new truck would cost me what... $50,000? $60,000? Or more(?). New trucks depreciate, and I could think of better things to do with that much money (like let it earn interest). Technically I could go out right now and pay cash for a new one (wife wouldn't be happy though).
However, I'll just keep my current long-ago paid-off truck (which I've taken on a couple overlanding trips; my Jeep is my primary overlanding vehicle although the truck rides nicer), and not worry about the 12 +/- MPG it gets. I would never recoup the money I would save on a new vehicle with a few more MPG. Load up a Toyota 4-runner and you're not going to get that much better MPG than what I'm currently getting.
So my recommendation (did anyone ask?) is to get a full-size 4x4 on the cheap (a couple thousand dollars), go through it and make sure it is dependable, and use that as your overlanding vehicle. Spend under $10,000 total for the vehicle and prepping it, and enjoy it. And don't worry that your MPG isn't the greatest; the tens of thousands of dollars you save over the price of a new(er) vehicle will make up for the slight difference you're getting in MPG. I mean really... is it smart to spend tens of thousands of dollars on a new(er) vehicle to go (for example) from 12 MPG to 18 mpg?