That's a good part of the reason I don't use my pop-up any more. I can go camping with my Jeep and a small tent for 1/4 the fuel cost of hauling my camper with my land-barge Chevy pickup.
Plus you can get into a lot more remote spots.
I've been wanting for several years to get myself one of those canvas "range teepees" for camping with a vehicle. Only 2 poles, and you can stand up to pull your pants on in the morning. Only problem is that I don't ever go camping anymore because I live on 40 acres of pine trees so what's the point? Plus there are the horses to take care of every day.
I would like to go camping with the horses someday, but there again is the cost of gas to pull a stock trailer somewhere.
I guess I could just go camp out on the neighbors' ranch, but that seems like a lot of work when I can just do day rides, and sleep in my own bed at night.