To be truthful i have not drawn any concrete nailed on perfect camper solutions for my/ our camping needs not ever.
When the kids were small a Tow/ touring caravan RV was Ok it kinda worked, But only travel to an area Plonk it on site and tour from there in the tow car and return at meal/ bed time ready for the next day.
Tried to converted Van thing had a VWLT35 / Mercedes sprinter style it was a big van but to sleep five and 3/4 dogs not big enough realy.
You could fit out say a sprinter and it could be luxurious ish at a price and just how deep your pockets are your time and comitment to make it work depend how good it can be for a couple to tour in.
You still got a big Van to drive about, its not agile or especialy ecconomical / practical but can work.
Folding RVs and trailer tents work ok can tow with any car or even a small 4x4 i towed a jayco trailer tent with a suzuki samurai sj413 it worked even with some light off road.
The tear drop or 4x4 rigid body camper or 4x4 truck dismountable camper is in my view getting close to the ideal for me. the towed higish ground clearance small camper is good that its small enough to explore and leave on the car/ truck / suv all day and you got instant sleeping cooking and storage acces all the time.
These views are my own based around what i/ we want and need for an ideal camping sulution, and may differ broadly from others requirements in a camper.
I dont have a truck just a 4x4 suv van version and at this moment in time the small camp trailer camper is the way i an leaning. its got potential and can do more of what we need from a camper now. Luxury is nice but its never the whole thing in a camper, if you compromise in the areas you will acept and tough out on the must have stuff the camper choice gets eassier and imo practical for your needs. Weather can make or break a trip it has to be said and sleep can make a hard day desolve away, warm comfy and dry in my old age is needed. on the bike ill tough it out but truck suv i am less tolerent and the micro 4x4 camper is more apealing to me than other options right now. YOMV.