Sorry if you didn't get the answer you wanted, but the SQ5 has strong resale value for an Audi. I was looking at last gen SQ5s for a couple years and couldn't get there on the price given the dated interior.
That said, Audi "S" models typically lease better lately than in Audi eras past.
Lastly, I'm not sure if it's the perfect car for the camping/biking/road trips. It's a small car. I think you need a new A6 Allroad