Welcome to the forum!
A lot of good advice already given in previous posts.
Basically, you're looking for a particular 4R model, for a good price, to do moderate offroading now and serve as a daily driver, and to potentially upgrade later to do more serious offroading.
You drive a Santa Fe now and it served you well, so ANY stock model of the 4R will serve you well if you want to continue to do what you did with the Santa Fe, and then some.
A lot of us use the 4R as a daily driver. It may not be a comfy ride as the Santa Fe (not sure, but I'm guessing it's a unibody and better ride), the 4R drives like a truck, so take that into consideration. Some of us modded the bejeezus out of it, and still drive it as a daily driver, you take a few hits in the mpg, but still very doable, the more you mod, the more your mpg will go down (adding weight, bigger tires, etc etc, search on this forum and you'll find a lot of threads about that). But still, very doable as a daily driver, I'm getting around 15-16 mixed with 287/17/70 Duratracs, and a SW front bumper. Not bad for me. Your driving method determines you mpg too, so take that into consideration, I drive like a grandpa
As mentioned before, look at the price of a new 4R and look at the price of a used one. The 4R holds it value very very well, so pay a few more thousand and get a brand new one is my opinion on that.
It really depends on what you want to do and how much you want to spend on the 4R in the future. Clean slate to work with in the future, go with the SR5. KDSS, gadgets and a rugged look, go with the Trail. Luxury and torsion diff- go with the Limited. If you like luxury, but also like the look of the trail, how deep is your pocket? Because you can certainly make a Limited look like a Trail like some members here. All are very capable in stock form for your moderate offroad needs, no question about that, however I will add though, a good AT tire will go a long way, the stock tires are not great for offroading, so the first minimum mod I would recommend is to get some AT tires. First time this year driving in snow with AT tires, and wow, big difference in handling vs the stock tires. Don't get me wrong, I was able to get through snowy and icy conditions with stock tires, but I was going very very slow. With Duratracs, I was driving my normal speed with normal handling, but I slowed down anyways because driving "normal" speed in the snow is not a safe thing in the city during snow storms.
Test drive test drive test drive. You'll see noticeable difference between the different models. I didn't mind the "nose dive" with the SR5, but others do/did, so slam on the brakes and see what you think of it. If possible, test drive a Trail with KDSS, a lot of members love it and says there's a lot less body roll during cornering. The Limited has better cornering than the SR5 too, per members on this forum. Go test drive them, come back here and tell us what you think, and ask more questions, we'll give you our experiences and opinions, and you could go test drive again to confirm/test what we tell you, and come back again and ask away. There's only so much we can tell you, it's up to you to test drive it and see how much you like/hate about it.