Subaru Outback or Forester.
I don't know about Seattle but here in Portland Subies are all over the place, kind of like Camrys in So Cal. I'd get something else if for no other reason than to be different than the rest of the crowd.
I've taken my FWD 4 door sedan camping plenty of times, including gravel/dirt roads. I'm a scout master and I take scouts camping at least once a month, often in primitve or unimproved sites, I like to visit the intended area either with my family or by myself before taking scouts into the woods if that gives you any idea how often I've been camping.
There have only been a couple times ground clearance was an issue and a wagon or compact SUV wouldn't fare much better. 4wd would be nice to have, I've gotten stuck in the snow 2x in the last year, not because I couldn't find traction but because I was afraid going further would get me in trouble. Turning around I lost momentum and got stuck in deeper snow on the edge of the road both times. I keep a small shovel in the trunk of my car and was able to get going both times without any assistance, for the minor hassle I'm not sure I'd want to pay at the gas pump throughout the rest of the year for 4WD/AWD. I don't drive my car like it's a racecar, because it's not, for 99% of my driving AWD would be a waste.
Any of the mid sized SUVs should be just fine if that's what you think you'd like. Toyota 4 runners have always caught my eye, but I'm not sure what kind of MPG they get. A Rav4, Escape, CR-v, Tracker or similar compact SUV would get you where you're going I'm not sure any one is better than the other, I think that quality in this market is pretty much equal across the board, which is to say it's not as stellar as one would wish. You may find that there really isn't much more cargo space in a compact SUV than you'd find in a 4 door sedan. You can fit a suprising amount of lightweight gear on a roof rack, sleeping bags, lawn chairs etc. are easy enough to tie to the top of a vehicle to free up space inside.