You can crunch numbers to really figure it all out, but only doing ~6,000 miles/year means you wouldn't save all that much in gas.
Rough numbers: If you sell your current car for $3k and buy the new car for $6k, you've bought ~$220/yr in gas savings for $3,000. ~7% ROI. Not terrible, but hardly something to jump on immediately.
I'd probably keep the Subaru and keep it up on maintenance until it develops some sort of major problem that makes you question its reliability, and then approach this again, with an eye for efficiency. Until then, enjoy very-low-depreciation miles.