Tracker/sidekick vs Samurai
Having owned a 97 trackkick dd/wheeler here is my two cents on the tracker vs sammy debate, i will keep it short.....ish
Sammy Pro's: solid axle and leaf springs, small(er), light(er), (more) simple, utilitarian, you can just about build one from a catalog ( they are approaching jeep CJ-esque aftermarket support)
Sammy Con's: someone already posted the rust and age issues, and good luck finding one that hasn't been wheeled or beat for a decent price. Where i am they are approaching collector status $$$. Solid axle and leaf springs mean a rougher ride, but OME can solve that for you.
Trackkick Pros: 1.6 engine thats fuel injected (16 valve has more power than the earlier 8 valve), a human can actually fit in the back seat of the two doors, much more comfortable ride (ifs and coil springs), quiter, better road manners (highway and surface streets), easier to find for cheap and in decent shape, a four door trackkick is down right roomy for a vehicle of its size.
Trackkick cons: ifs can't be lifted more than a few inches without some work, they don't have the cool factor of sammy's, the aftermarket support isn't up to par with the sammy's but its getting there. not as capable out of the box as a sammy
With your needs/wants i would go with a tracker/sidekick. My tracker had two inches of lift, 30's, skids and rear locker and was a fun capable DD/trail machine. The IFS and coils handled washboards, mild-moderate trails, and street quite well. I wouldn't call it a great long distance highway vehicle, but it sounds like you don't need that. I could go on for a lot longer, if you want some more info feel free to PM me.
Mike