Jen, I drove a Jeep Liberty for about six years. That was my favorite vehicle ever. So much fun. Looks like a Jeep, drives like a car. Just enough room for groceries, dogs, camping gear, bikes, kayaks, etc.
That said, I'd also consider a Honda, Toyota, or Nissan. Right now I'm driving a Mazda smaller SUV. It reminds me very much of my little Jeep.
Also, you might look at a Subaru wagon. Those are interesting, and I think they are slightly lower to the ground, so if you plan to carry something on top, it would put it within easy reach for you (assuming you aren't 6'0).