This is a beautiful example of why I say there is no one "best" choice, and what's best for you will depend on your needs.
A Samurai can be a very capable vehicle off road, but if you have to cover any significant distances, you might need a support vehicle to accompany you - with two grown men, plus gear is a tight squeeze, and you can forget about highway speeds.
My road trip companions are usually my wife of thirty-eight years and two of our daughters, both adults - our most recent trip, in late May was a twelve hour drive which included a river crossing that is also a border crossing between neighboring countries - it's about eight hours of driving (roughly 450km), with the rest of the time spent at the river crossing, which includes immigration & customs formalities, as well as the actual crossing.
Fuel stops are few and far between (as strange as this might sound, there is no fuel available at the ferry crossing - you can buy duty free liquor & cigarettes on both sides, but no fuel), and roughly half the drive has to be done during the hours of darkness in order to match the ferry schedule - there's only one crossing in each direction a day, so missing the boat is not something to be taken lightly - we made the outbound trip on a Thursday returning the following Monday.
There's literally no way to fit four people, along with the clothes, food & fuel needed for that trip in a Samurai, there's no way to do it in a two door Sidekick, a four door Sidekick is a squeeze, the GVs are about the smallest vehicle I'd try it in.