You might consider a wagon - The Jetta SportWagen TDI is a good choice for camping expeditions. Plenty of space inside, perfect for light towing duty and fuel economy is excellent at 30/42mpg. The Escape Hybrid is several thousand dollars more expensive and doesn't necessarily give you better fuel economy (especially on the highway), but if you are dead-set on an SUV and must have AWD then it may be your best option. If you are looking at a gasoline-only option, get a Subaru. Of course, when Subaru's diesel engine finally makes it to the USA, it will be my recommendation for this class of vehicle.
Full disclosure - I like wagons, I don't like SUVs.
Thanks, I'll check that out. I'm currently driving a 2005 Toyota Matrix which was supposed to be the best of both worlds -- not quite an SUV but taller than most cars. Unfortunately its fuel economy isn't anything to write home about either, and I really feel that I could get a better vehicle AND get better fuel economy -- perhaps with the aforementioned VW.