Cool list. Since 1987 I've owned three Suzukis - Samurai, 4-dr Sidekick, and Vitara, not the grand, the more reportedly more reliable 4-cylinder. Also in the mix were a first and third gen 4Runner, Isuzu Rodeo and Trooper, Land Rover Discovery I (as well as two Series IIa 109's) and currently have a 91 FJ80 and an 81 Mercedes 300d, the W123 platform that I would choose over any newer platform for this kind of travel.
So, with that bit of trivia out of the way, I think the choice of vehicle would also largely depend on where one was going. If one wants to travel abroad or ship the vehicle then a Tacoma may not make the list since it is North American only.
I totally agree with having a Zuk on the list - if you don't need tons of room. For one or two people, there is room for all the necessities, and Scott and others here saw what the little Vitara could do. They are little beasts, mini LC100s from my experience.
The 80 though would be my first choice, the 91 and 92's don't have the issues of the HG or pesky heater hose and can be found cheap. You could do all the PM on it, and equip it for an around the world expedition for not much more than just buying a nice 100 series.