I take my Escape Hybid 4wd offroad all the time just to get to property up north (Michigan). I have been very impressed with it considering my last vehicle was an F150 4wd doing the same drives. While not a 'jeep' type vehicle... I get cross country very well. After 30,000 miles with no problems.. even considering the beating it takes for any Escape, I love it! I don't have killer tires like BadFrog, but I did replace the stock ones with Revos and it makes alot of diffrence offroad and in deep snow.
I'm sure the Highlander is a great vehicle also... And I would love to see someone post some video of what they can do...(Even though Toyota warns the Highlander is not to be taken offroad!)
Here is a link to a short video of BadFrog (red) and My (white) Escape Hybrids having a bit of really mild offroad fun... Its fun driving in the woods on electric!
http://www.youtube.com/watch?v=P1iHGwj7MUA