A Discovery 4 could well be the answer. On the road, 245 or 254 HP (depending on year) from it's 3 litre twin turbo diesel will see you motoring along any road with aplomb, it's cavernous inside, even if you don't get the commercial and it'll out-do any pickup off road. As for cheap running costs, the fuel isn't too bad depending on your driving habits but you need to budget for servicing. However - although mine has been excellent (touch wood) there is the worry of Land Rover's reliability record. To be detached about it, it's abysmal although since 2010ish, it is very much improved. But they are complicated things, so for excellent off road ability and a marvellous on road driving experience, with approaching Range Rover comfort, could you?
The Land Cruiser is a good alternative as is the Nissan Pathfinder. But they all have their drawbacks. Depending on your over all requirements, would one of the "soft roader's" fit the bill? Worth considering if your off road forays aren't too taxing. You would certainly save on running costs. A Nissan X-trail is an excellent car.