This is a good point. I hauled with a couple different SUVs over the years and found that it worked fine to wheel the hitch down low enough after parking to lower the tailgate. I am proud to say that I never once forgot to raise the hitch before pulling forward, but it is definitely something to keep in mind.
OP I would drive a few examples of both pickups and SUVs before starting to narrow the possibilities…Since you are looking for something you will like driving every day in various situations, you may find that pickups and SUVs drive & handle differently enough to factor in your ultimate decision.
I had a 3/4 ton pickup for a few years and it was fun to drive BUT I also had a small commuter car which took the pressure off having to drive and park the honking big thing where it didn’t fit in town, etc. So a capable SUV and appropriate trailer might be a great compromise for you.