If you want to take it off the beaten path, then the Geo/Chevy Tracker, Suzuki Sidekick or Samurai, Jeep Wrangler, and Subaru Crosstrek are good choices.
If you are using it to sightsee on well travelled roads and want something economical, there are many small front wheel drive manual transmission hatchbacks that are towable four down. I needed something around 2500 lbs. that I could load up with a lot of stuff. Ended up with a 2012 Hyundai Accent SE 5-door hatchback with a 6-speed manual transmission. It has 47.5 cu. ft. of cargo space with the rear seats folded down and can be loaded up with over 1000 lbs. of gear. It has an integrated rack attachment that takes Yakima towers to accommodate the Yakima bars and RocketBox I already have, and the Wenonah Heron Kevlar canoe I will soon purchase. A Yakima KingJoe 2 will house the bikes off the hatch. It also gets 40 mpg. No restrictions for towing, no power drain, no odometer accumulation.