As mentioned, all your requirements point to a compact SUV. I feel these are the most flexible vehicles made especially if you feel you need AWD. EVERYONE has gone to low profile tires and low ground clearance rendering the FWD car a shadow of itself compared to cars of old in snow traction when tires were narrow and clearance was greater.. FWD only has the advantage of taking off on level ground only over rwd cars. After that, none. RWD and AWD especially have advantages of handling and towing even on dry roads.
Everything else points to AWD in a higher compact SUV which can tow moderate weights and handle safer in slippery conditions than any FWD car made. The most efficient in standard non hybrid form is the RAV. Even the V6 gets over 25mpg highway.
You can get 26+ mpg in a 6 cyl 4 Runner on the highway which tows 5000 lbs and is very comfortable. But, you must drive under 65mph to do it. You therefore can do well in any car if you keep your speed down. RAVs and other small SUVs should push 30 mpg easily at moderate speeds. That's a key to good highway mileage.