Another vote for a Jeep GC.
After towing a 2001 Jeep Wrangler for almost 100,000 miles behind a class C, we bought a DP and went full-time. We replaced the Wrangler with a 2011 Jeep Grand Cherokee Overland. This is much nicer vehicle to drive around in and is actually very capable off-road. Only the Quadra-Drive II drivetrains can be towed 4 down.
If you want to drive a Jeep of any kind off road, be sure you have good off road tires. The standard passenger tires usually put on the GC are very easy to damage off road (I've done it :( ).
