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Back before I decided to keep the 'Burb for another 3 years I was obsessively auto-shopping on line. In terms of "stealth" vehicles the full-size truck with a NA V6 was usually thousands less than the same truck with the V8. I don't think the price difference was the engine, I think it was more that the V6 trucks were "strippers" or "work trucks" and didn't have all the bells and whistles, while many of the V8's were "urban cowboy" specials with every option.
AFAIK both GM and Ram offer a NA gasoline V6 in their full size truck (not sure about Ford - they offer so many options and packages that it's dizzying! Obviously Ford has the Eco Boost motors but I don't know what non-boosted V6 motors they have in the F150.) I'm pretty sure the GM engine is the venerable 4.3 which has been around since forever. Not sure what the Ram V6 is, I think it's a 3.8 (maybe the same one that's in the Wrangler?) but not sure.
I've never driven one so I don't know how they compare to the V8 version but my guess is if you don't pull a heavy trailer and you don't need to be the fastest thing on the highway, you can probably get decent MPG in one of them.
Best of both worlds: You get the space and comfort of a full size but the MPG of a compact.
The specs of a 1/2 ton V6 is right around of a mid-size, if you treat it like a midsize, you'll be fine. The bonus is, that you can get an 8' bed and often they can be purchased for less than a midsize. RCLB with a high rise topper makes for a great stealth camper. If you don't lift them, and not too crazy with tire selection. Easily pull low 20's for mpg's.