I've put ~ 18,000 miles on my 4X4 KIA Sorento EX and still like it quite alot (almost 2 years).
It's a pretty comfortable vehicle to drive with great styling, a nice interior and a solid feel. The 5 speed Shiftronic Automatic is excellent with its auto/manual modes. It's also a real 4x4 with Low/High range transfer case and a real frame (and a bit harsher ride).
It's a very capable offroader with decent ground clearance. I haven't pushed it into anything too extreme, but I've run it through pretty primitive "roads" complete with some creek crossings, steep terrain, washouts and plenty of rugged rocks without it missing a beat. Had it in deep packed snow a couple times last winter as well, no problem at all.
I've had the driver's seat electic control replaced recently (warranty), otherwise it has been completely trouble-free.
Mine's a 2005, the newer models have a larger engine with considerably more horsepower and towing capacity upped to 5000lbs (from 3500lbs)
I got the higher end "EX" model nearly fully loaded and also had enough left over to buy my wife a new Tiburon GT and still be thousands under your $50K limit.