Lots of compact SUV, from Land Cruiser 70 (specifically 70) to 469 are a fully street vehicles. And of sensible size, so they won't get stuck if the street is narrow. And with better on-road handling than Hummer.
Generally, off the road, smaller tends to mean better. The fraction of people who ever drive off the road is perhaps the lowest among Hummer users.
But that was on a tangent, on topic of which is actually best on the road.
Though about coolness... Don't tell me this doesn't look cool (this is NOT Hummer, but a modified Gaz-66!):
The full cab, engine-forward version of the truck on the first image. Although it looks a bit too close to an enlarged Hummer, but it's the owner who put such a grille - otherwise a production road vehicle.
There are lots better offroaders than Hummer (have I mentioned Bowler Wildcat?), the civvie Hummer is rather about bling and poseur.