Suzuki Grand Vitara?

Have you thought that through? If you aren't looking for anything 'serious offroad', dual range will be a waste. You won't go anywhere in the outback that a nutter in a forester hasn't been for example.
The v6 vitara is more 4wd than a sube, but a mixed bag reliability wise depending on the year model. Do your research. Compact 4wds are few and far between whereas a good AWD will expand your target market considerably. Only you know the answer to that though.

As an outback tourer, it won't be perfect, but with good planning, it can do the job. Seen a few in teh sand and they do well (clearance permitting).

The V6 were last made I think in 2010, so you're looking at vehicles 12+ years old.
Payload is 417kgs - not much to work with. But the secret to these small 4wds is to keep them light.
Fuel consumption was 10.5 L/100k Combined from a 66L tank. - when the going is good, will get you 500km. For something like a Simpson Desert Crossing you would need to carry petrol in jerrys which is hard - roofrack is really the only option.

They did make a Grand Vitara 1.9 turbo diesel but they were all manuals - I have no idea what they were like but the numbers are a lot more impressive - same size tank and it gets 6.8 L/100k so I'd expect an 800km range. And 458kg payload.

I love suzuki's, but not really set up to be an outback tourer. The size, payload, fuel type and volume all conspire to make them impracticable.

The vitara doesn't have a lot of ground clearance out of the box, and when you load it up with camping gear you lose even more. They could do with a bit of a lift and heavier rated springs in the back so it doesn't drag its bum in the dirt when loaded, but will be rough to drive the other 51 weeks of the year. More dirt orientated tyres with stronger construction would be a good idea, but will use more fuel and reduce your range.

As said, the payload is limiting. 2 up you're looking at 150kg, add in camping gear, food, and maybe a fridge then the cargo area is rapidly filling up. I used to fit 2 dogs on top of everything and it was a little cramped, but mine was a 3 door. It can be done, but you need to pack light.

The fuel tank size will limit you range, so you'll need extra fuel for contingencies. I'm not keen on petrol in the vehicle and it will eat into your load space, so a small roof rack is probably the go. That will add weight and drag, further reducing your range.

Petrol gives good power, but the fuel is much more volatile and I didn't like it being in the vehicle with me (I did it as I didn't have any other options). Diesel stinks, but much less likely to catch alight if everything goes pear shaped.
Everything being equal, you will use more petrol to go anywhere. I used to load up my Sierra and reliably get 400km from the 40L tank, I bought 7 seat diesel Nissan that weighed twice as much and could carry 3 times as much and still got 9L/100km and had a 70L tank to play with.

Like I said, Suzuki's are great and I'd get another one, but the underpinnings are still a Kei car which is designed for not going too far from home.

A good set of tyres, a good tyre gauge and a healthy dose of mechanical empathy and AWD's (with a centre diff lock) will go a surprising long distance off road.
Hell, with no mechanical empathy I used to take a ford escort into some places that a lot of 4x4 owners would think twice about.

We have a 2018 GV...vertually the last one sold in oz...which we bought new. Have used it to explore around the mountain here...and in low 4wd it takes a good driver anywhere it will go. The 2.4 4 cylinder petrol is pretty much bulletproof...and has a reputation of long life with very few issues apparently.I have had a family member with a V6 petty...and he sold it because of the fuel consumption.."goes like a scalded cat and pass everything but a petrol pump " was how he summed it up. Ours regularly returns figures of 8.5 km/l to 9k/l on trips.Towing capacity is 1700kg braked....service id\s every 10.000 k ...and motor holds a decent amount of oil= long life. Runs a all wheel drive all the time in high range ...no 2 wheel drive....which makes it an absolute hoot to drive ...specially on winding roads . Havent had it long enough to give you any long life issues ...but from the k,s done so far ...it looks like it will be with us for years..cheap n cheerfull to own and a hoot to drive . Has really good A/C.. only enough electrickery to be safe in OZ...and very easy to service...doesnt leak dust...and no rattles and squeaks so far anyway.
Plus its has the legendary Suzuki quality build and is all Japanese made.
I have heard...altho no first hand experience that the diesel was good while going ....but a world of pain when it wasnt..so maybe more info on that maybe about somewhere.

Cheers Keith

Don't rule out a generation 4 Pajero for a mid size vehicle. Late NT (without the DPF) onwards to pre-DPF NX. They have 2WD, AWD, 4H and 4L, the 4 wheel independent suspension, means they drive like a sedan and have a good turning circle. They also have a 775kg payload, a proven bullet proof motor and transmission. I went from a Ford Maverick (GQ Patrol) to an NT, I think that model has the best compromise between ultra modern gee wizardry and bog basic like my Maverick, coil, points and carby, the smartest doodad in the vehicle was the Kenwood radio I installed.

On the basis that whilst not wanting to be driving seriously gnarly high clearance rocky country (which it would likely do better than many might think if driven with care), but want to travel on outback dirt roads & feel confident to manage soft sand when required, I think the Grand Vitara would do that on the basis that Stephen. L described.

I would be quite happy taking one down to Boggy Hole from Hermansberg. It's light weight would see it float over the soft sand section toward the end , using suitable tyre pressures.

It is the size/storage capacity which may be an issue for longer trips, but if you are happy to travel light I think it would work well. They have a good reputation for reliability.

It’s hard to beat an older prado, they drive like a car, they carry up to 180 litres of fuel, and a 4cylinder diesel will return you 10l/100. Suzuki vitara is a good cheaper option, but won’t have range like a prado.