I brought my buddy out to an easy trail with his brand new crosstrek hybrid. This was a really easy trail, and he was dragging his chin over every little obstacle. And I'm not sure if the hybrid is carrying extra weight but the same springs as the non-hybrid, but his suspension seemed really soft and every time he came down off of a rock or a bump he would bounce his undercarriage off stuff. Overall, in stock form the crosstrek really can't handle much. Maybe the non-hybrid is different, I'm not sure.
I would go for the forester. I'd say it's the best average of space, comfort, economy and off road ability for an overlander.
But watch out, all new subaru engines drink oil like crazy (yes even the FB25 - but the FB20 is much worse). Subaru is calling 1 quart per 1500 miles "acceptable consumption". But you know, subaru owners don't like to talk about it