How much power does the motorhome have? Both of those are mid sized SUV's. I own a 97 4runner, I've owned 3 dozen 4runners and Toyota pickups, and recommend Toyota 4x4's 17 ways from Tuesday, but if you have a smaller motorhome, I'd get a smaller buggie to tow.
As an off road buggie, the Suzuki Sidekick/Tracker is a well engineered little 4x4. Good gears and etc for off road use.
If you're looking for a "car" that has AWD traction and some potential to get on a muddy or otherwise traction compromised road - - but is mostly a car - - I'd look at the Honda CRV, or the Toyota Rav4. (Make sure they're 4x4's, any of these actually. They all produce [beeep] on bulls (2wd) models for some stupid reason!)
I don't know the Honda Element, but I'd look into it too.
Another one I don't know but have heard good things about is the last 2 or 3 years of the Hyundai SUV. They've improved their game by leaps and bounds lately.
If you've got enough HP in the motorhome to pull a mid sized SUV, I'd 110% recommend the 4Runner, or the FJ Cruiser.