Yeah, sorry, but I personally would never go with two vehicles. If you want self recovery buy a winch.
The OP said he wanted to go as a family. How exactly do you get two older teens to feel part of the family if they are in their own truck the entire time.
The goal, in my opinion, should not be to get everyone out there, somewhere, simultaneously, rather it is to be together in one place at the same time, enjoying and experiencing new things together...
I guess, for me, family is a major issue. If I could not be with my entire family out there, I would not be out there. (barring some small solo trips, but that is not intended as a family trip)
Just my two bits.
There are a lot of vehicles out there that would suit you well. Personally I think that the Ford mega burban is a it large for most trips (that I have been on) however the mileage in the diesel is so good it would be hard for me to ignore and I have even thought about getting one just because it gets better mileage than my Jeep Grand Cherokee.
The Jeep Commander has the third row seating, very nice for the most part, and pleanty of room (again for the most part, ie six adults seem to be more comfortable in a space than are two teen age brothers in the same space, so take it with a grain of salt... )
Also the Mercedes Benz ML, GL, and GLK all have a lot of room and can come with the third row seats. A little tighter in the rear end.
OH and let us not forget the dodge Durango. That is a really fairly nice truck and you can easily fit your family in there. NO room for cargo in any of these smaller "mid-size" SUVs but other than that they are great for your needs I should think. The Durango even has lift kits available for it if you should need one. (then again as do all of them outside of the Benz family)
Good luck with your choices!