This is an easy one for me. First off, I'd start out with a Chevy C4500 crew cab 4x4 chassis (Duramax, Allison trans) and add a pop up 11' camper (Alaskan, perhaps... perhaps a different one). for example. here's a C4500 with a Monroe body conversion.
This one is just up in WA and only $74k. Look how it dwarfs the Express vans. Add a $20-30K pop up camper and, arguably, you'd have a better off-road vehicle than any of us here.
Thing is, it wouldn't exactly be a daily driver like our SMBs can be. And I thought my SMB was hard to park.
Oh, don't think I haven't run this by the wife already. She was all thumbs up. Of course, not going to do this, but it answers Jage's question.