Welcome to the community mate!
Any Jeep owner such as @Looper above or myself will tell you to go for a Jeep. It is a lifestyle.
The most iconic offroader, lots of utility, safety and most of all... offroad capability. I've owned almost every generation of the wrangler and the JLs are probably my second favorite after the TJ (which is good since you want a new car anyways).
Based on the criteria you mentioned above I would recommend that you get a Wrangler JL Sport. When you have some spare time, go visit some off-road showroom. It will give you some perspective.
I know you said no mods but some are very important for the longevity of the car. Customs Off-road sell fully loaded JL sports with upgraded suspension, bumpers, tow hooks, lights, etc (all the essential upgrades to avoid risking damaging the car during off-road and making it more capable) for under 250k. I've seen some beautiful brand new 2022s go for about 180k.
Depending on how far you think you will take your offroading... both the 2 and 4 door are equal in capability. A 2 door will eventually start slightly outperforming a 4 door because of its shorter wheelbase and lower weight but it’s a really small difference. All my Jeeps were 2 doors because I liek the look more and they are my desert toys and I also have a second car as my daily.
There are many custom off-road shops that you can visit.
Those are my 2 cents. JEEPER for LIFE 😎