At $10k you're looking at the older pathfinder, right? I had a 2001 R50 which went ok on the beach. Never did extreme 4wding with it though. It was a bit thirsty but no worse than petrol prado/pajero/challenger etc, I reckon.
Insurance was ok from memory - although strangely enough my landcruiser (much more expensive) is about the same.
The pathy isn't a full sized 4wd though - definitely "mid" sized so check that it is big enough for you. Other option was the Challenger. Same size, same price roughly. If it is only for 2 people and not doing anything extreme then the pathy or challenger are probably good options and you'll save some money compared to prado/pajero/cruiser of same age.