You can get an extremely nice SUV for $5k-$10k, and there's plenty in the $3k-$5k range that is nice enough. A Nissan Rogue is not a SUV though, it's a minivan. Unibody and front wheel drive with option AWD, no frame, no transfer case, etc. There's nothing wrong with a SUV (or minivan) over a compact car, but spending $20k+ for a rapidly depreciating asset that moves you from point A to B is insane. Adjust your budget to minimize hits to TCO though depreciation. $5k-$10k gets you a darn nice, fancy, and luxurious minivan or SUV.
Gas is at historically low prices, and not a significant consideration if your vehicle gets double digits for MPG. The $15k+ "saved" in buying a reasonably priced vehicle over a fancy new uber luxurious vehicle buys a lot of fuel, even consider fuel costs will likely rise over time. Insurance costs should not be significant either way as you should be able to self insure against total loss that can't be compensated by some other individual at fault (theft/fire/etc.).