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Hi I am wanting to know what is the best car or 4x4 / ute to tow a medium boat, that is economical, doesn't cost the earth to fix, and just keeps on going. I have always been a fan of toyoto's for that reason oh and can also fit 2 children in it with enough boot space.
looking to spend $7000

It's a tough budget, but if you can find a good Toyota Surf or Nissan Terrano, either of these should meet your requirements, depending on the weight of your boat.
Obviously, there are never any guarantees with a vehicle such as this, but for the job they're designed to do, they're both models with a relatively reliable reputation and shouldn't be too high on maintenance.