Is there any 2009 SUV that is actually good for moderate off-road use (desert terrain)?

My husband and I would like to purchase a compact SUV to tow behind our motorhome when our families camp in the desert. We don't ride off-road bikes, but enjoy following along in our Explorer. However, we'd like to downsize to something smaller and lighter. We enjoy light to moderate trails, but occasionally we find ourselves in more difficult terrain. Anyone have any suggestions?