We had an MDX that we towed our pop up with, then upgraded to a highwall pop up that was much bigger. We moved up to a full size SUV for our family of five. We were able to get second row captains chairs so each kid has their own space. The third row I split and folds into the floor in case more luggage space is needed.
We bought a standard length expedition with the heavy duty tow package. We love the vehicle, but it does not come close to the MPG of the MDX, I don't think any vehicle that can pull a decent size camper will. The Expedition fits in our garage and we tow a 6,400# dry / 8,000# gross bunkhouse. The Ford is a great tow. Vehicle and daily driver, my wife is petite and has no problem driving it.
Look around and get what suits your needs and something you like. Just make sure you get a tow package, you have a lot of options. Good luck.