The most common vehicle used is the Honda CRV, which doesn't require any modifications to be towed. Since it is a SUV and will seat five, it shoud fit your needs. They have been built for many years and you should be able to find one in your price range.
I tow a Hummer, but at 4,800 lbs it is too heavy for most to consider towing and still too expensive. However it also doesn't require any modications either.
The Ford Explorer with an automatic can be towed but only after modifcations to the drive line system. The Jeeps can be towed (I believe) if they have a transfer case that can be put in nutral. Finding a Jeep that you would want as a dependable daily driver could be an issue since some have had a rough life in off road use. Good luck.
