Can you get a hatchback version of the Focus, Fiesta, or Golf? The sedans versions are pretty crappy variants of otherwise great small cars. Fiesta will have best mileage, Focus will have the best mix of mileage and cargo space, with the Golf being a solid vehicle overall, but more pricey.

...but only the hatchback versions of each.

Otherwise go for the Ford Escape. You're sacrificing gas mileage for utility, but overall it's the best of the bunch in terms of usefulness and reliability. Jeeps are expensive to repair, VWs are expensive overall for what they are, and the Nissan Rogues are just bleh.