Theres also the option of the bed campers, I've been in a few of them and they are really quite roomy. Some even have a pop up roof, similar to a pop up pull behind.
YES! A 4x4 2UZ model with only 200k on it? It has a lot of life left, espescially with that age. Any clue as to how recently the timing belt was done? Thats the only major service to worry about.