I would go with Subaru, Audis are good, but maintenance and minor crap drain your wallet. 4x4 trucks are good, but the light rear end can surprise you if your not used to one. Explorer, Blazer, Grand Cherokee are all good but will be more expensive to run between fuel economy and repairs. All of this is based on $15k price tag.
The biggest mistakes in life come when you know exactly what you are doing.