Ok, cool. (I feel the same way about my MIL's fjcruiser. Claustrophobic is a great adjective. I feel like original fj40's are actually roomier and brighter inside than FJC's in a lot of ways...haha)
So to reiterate what you want:
1. feels like car inside with day in/day out comfort
2. tough drivetrain
3. good mileage
4. no pickup bed.
5. realistically priced
6. real 4x4 capability
So, I still say these are my top choices:
3rd or 4th gen Montero
2001-2002 Trooper
First gen 1997-2002 or 2nd gen 2003-?? ford expedition
EDIT: I do have to say though, I know several people who own the honda pilot who absolutely love them. They're very reliable and very safe. If one of these with AWD, a good set of agressive tires, some custom skid plates, and maybe a few off-road farckle additions like a roof rack would serve your needs, I see it as being a very good choice...
Reliability, comfort, and adequate storage space, (having just been on some trips recently) are at the top of my list. I'd rather take a hit in the "perceived cabability" area and carry a winch and some bridging ladders, than sacrifice those three items.
If you can have all four, great, but Honda makes an excellent product.