I fear that compared to a van most SUV will not be comfortable to move around in like you're used to.
That's likely true. However, it's becoming more difficult to load canoes on top of a full size van, and mine is so old (1997) that it needs a lot of work. On the other hand, it may be cheaper to fix the old van yet again as opposed to buying something expensively newer. It's also the only vehicle I own that can tow my canoe trailer.
I don't really need AWD. Only one canoe vehicle I've had over the past 45 years had AWD, and I only used that used clunker for one or two years.
99.44% of the time in my canoeing adventures over the past 45 years I've been driving on regular paved roads. I've never encountered a situation where I thought I needed AWD or 4WD, even on dirt and logging roads in Maine. Of course, I often cannot get my RWD van up my long, steep, icy driveway in winter. But I don't canoe in the north in winter. I freeeeze! Or try to jury rig trips to Florida.
That was my one AWD vehicle, a Ford minivan. I bought it in 1996 in Brunswick, Maine, on a credit card when my first full size van conversion, a 1982 Ford E-150, crapped out on the Maine Turnpike. I was on a canoe trip that also included buying my Surge sea kayak. It was a Ford Aerostar. I eventually removed the back seats, put a foam mattress on the floor, tacked up black sheets for window curtains, and used it for a couple of years. It had about 125,000 miles when I bought it, and things kept breaking on it all the time. I gave it to my son, which was its coup de grâce.
After that, I bought a new 1999 Honda CRV and a new Mountain Hardwear tent and became a tent camper for a couple of years. Alas, my wife took over the CRV, which was a great and reliable vehicle for 20 years. Oh, I guess it had AWD, too, but again I never needed it, other than to get up the driveway in winter. We still have the old CRV. It's become a planter.