We've got an 06 Jeep Grand Cherokee with the Hemi that we bought new with the same intent, keep it til it dies. We love it, my sister loves it so much that she left her Audi S5 in FL and took the Jeep to college in San Diego. So I'd recommend one of those. We've had a couple of electrical problems but I'd say in 6 years we've only really spent $5k on maintenance and repairs.
The Lexus GX is great too, if you have a good indy mechanic. They don't go wrong often but if they do it's expensive.
You also can't beat a Volvo XC90 or XC70. So comfortable on long trips and really durable.
2012 991 C2S
BMW's in the family:
2003 E39 M5/2010 E92 335i