My wife and i asked the same questions after several years of camping out of various rigs and "setting up" camp. After several attempts we have arrived at a compromise that is working wonderfully for us. About 4 seasons ago we (as i write i'm 55 years young) migrated away from the idea of needing to engage the 4x4.
We ended up with an AWD van we had professionally converted in stages with some sweat equity in the mix also. BUT two seasons in the "Class B" van that could do it all inside and out, we were still bent out of shape when we would invariably get stuck loading up soggy kitchen tents and accessories due to living in the beautiful, yet soggy, Pacific Northwest. So we broke down...
Sold all the outside gear except basically one aluminum table and two strongback chairs. And purchased a beautiful little 15ft fiberglass trailer. We still sleep in the van (a master suite on wheels) and then entertain/cook/shower in the trailer. Set up / Take down time? ~2 minutes? We still can go to any of the forestry camps we've come to enjoy as the rig still turns a U-Turn in the same ~45 feet and is very maneuverable.
arguably one of the nicest little kitchen tents in the forest : )
Oh, and driving... we unhook the van and head up the forestry road...
~18 miles up Forestry road 28, Mt.Rainier Wa.