We bought a van and outfitted it with van camping gear and camping gear. Getting to a remote place without crowds is priceless to us. Unload, and its an everyday vehicle. After a few of weeks of our version of minimalist camping, we are ready for home comforts.
A pair of solar panels, a battery, a 12v pump and a gas heated metal sprayer tank gave us hot running water, showers. Add a camping stove and we are cooking with gas, a travel trailer type porta potty, a comfortable sleeping, and very well insulated cooler and we have many of the must haves for comfortable camping. 25 mpg, easy to drive compared to an RV. The real downside is ground clearance.
A few thousand to gear up with the good stuff, but we saved that much on our first few extended road trips by not paying hotel fees.
Otherwise, we would go for a pickup truck camper, but then there is storage and a lot more upkeep and a vehicle that doesnt work as well for us.