I drive an F150 Supercrew 4X4 (15mpg)
Wife drives a Honda Pilot. For the size (same length as an explorer, but 6" wider) you won't find better gas milage (21pmg). If you're sold on toyota, check out the highlander (a bit smaller than the Pilot). If you don't need as much cargo space, the subaru is an excellant option.
I consider the Pilot, Highlander, and Outback crossover vehicles. Unibody construction & no low range 4X4. The crossovers get much better gas milage and tend to drive better than traditional SUVs. You give up some towing capacity. Pilot maxes out at 3,500 / 5,000# (camper/boat). Personally any more than that & I'd rather tow with a full size truck. You also lose low range, I've used that a grand total of 2 times in 3 years on my pickup.
When I bought the truck, the wife had a Honda civic, thus I got the crew cab, short bed. Since then we got the Pilot. If I were buying a truck today, I'd give up cab space for bed space.
If only one vehicle, get one of the larger SUVs and a trailer for your hauling needs. If two, look hard at the crossover vehicles - Escape, Subaru, Pilot, CRV, Highander, RAV4, GM has some, but don't remember the names...