I'm surprised that more people don't consider road conditions when car shopping. As state budgets become more strapped each year, road maintenance budgets are an easy target to cut. Of course, in some parts of the country, like New England, the roads have always looked like they were bombed.
Forget the Prius. I've test driven the FJ Cruiser and was impressed with it. Pay attention to the rear visibility issues. Its not a problem if you're used to driving a cargo van.
I would test drive the vehicle on the roads that you plan to drive. I would lean more towards trucks because the front end components will be larger and more durable. I like full-size trucks, but not everyone has parking for one.
I'm surprised by the Jeep CJ recommendations. I haven't driven one recently enough, I suppose, but the wheelbase is still short. Drive one and see how it handles the potholes and tracks after impacts at highway speed. Off-road ability doesn't always translate into highway performance. There's a big difference between rock crawling, mud bogging, and hitting a massive pothole at 65mph.