I'm a big fan of trucks - always have been - but I've never been on a paddling trip where there was a need to drive off-road, so being "limited" to paved and gravel roads seems pretty reasonable to me. Even the average dirt path can be driven on by any car, and people routinely did that prior to the mid-70s when trucks first became popular. Given the OP's target range for fuel economy, some kind of car seems best.
Touring Kayak Paddles
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