So some thoughts, worth what you pay.
Wife and I have been doing a lot of traveling and overlanding the last couple years, and while my rig is definitely NOT what you are looking for there may be some lessons learned you can use.
My current rig is a four-door 6.5' bed F150, and unless you are planning on sticking solely to RV centric campgrounds, I wouldn't get any longer than that. It's already a kind of pain in the butt in some spots. I've had to do like 15pt turns to get turned around on jeep trails while offroading. That's always fun. There's also the height. When thinking of Truck v. Van, height is often overlooked. Not height of the vehicle, but height of what you will end up doing on the vehicle. Everything about my truck involves climbing up into it. We off road a lot so we need to, but if I didn't need it, it would be annoying. Also truck suspension on highways is not as nice as van/RV suspension on highways. Again, I need it, but if you don't, there's no reason to put up with it.
Think about camping vs. traveling. Or rather staying vs. traveling. We can pretty comfortably do about 500mi a day. That's get up, breakfast, break camp, drive (stop to let dogs pee), get to new camp, set camp, dinner, sleep. Not much exploring. It very quickly became apparent that a more enjoyable trip is to get somewhere, set up a camp and stay there for a while, and explore that area (Hikes, scenic spots, winery/brewery/distillery tours, scenic/historic drives etc.) Which means you either need a vehicle that is reasonably economical and easy to drive/park (1 dually w/ camper might not be) or a secondary vehicle. My F150 is fine, if kinda gas hungry, but I wouldn't want to lock myself into exploring with a dually/camper. Not to mention having to pull power/water fittings every time you leave. An RV with smaller vehicle might be better for this. If, on the other hand, you are sure you are going to be the "on the road, new place every night" type of traveler, a truck/camper is less hassle to drive on highways (not towing anything) and probably a tic more economical. Pick an emphasis.
As Charby mentioned, most RV type campgrounds have decent to nice bathhouses that don't require you to dump blackwater. I wouldn't stress about trying to get a really nice head in your camper.
Trucks, and truck based stuff will invariably involve more climbing up into stuff. Even if they have steps, there will be more steps.
For what you describe, it seems like a Class B van with a lower floor and comfortable on highway ride, combined with your towed Jeep might work really well. You could get some place, throw out the awning, porch, power cord and water hose, then explore around in the Jeep until you are ready to move on. Something like this may work out pretty well:
https://www.rvtrader.com/listing/2017-Thor-Motor-Coach-COMPASS-23TR-5022905088TL:DR: Think hard about traveling vs. base camping, and build your rig around that decision. You don't want to have to break camp and drag everything down to the store for some firewood. Unless you need truck stuff (Higher vehicle, Ground clearance for off-roading, non RV truck vehicle) trucks are not as good as van based chassis for comfort, driving, and livability.
Gratuitous photos of my rig out and about: