In the real world, you aren't going to get your big camper rig down very many 4WD 'only' 2 track trails.
They have to many over hangs, too narrow or just to narly for your rig.
The 4WD 'only' trails you can realistically travel, are going to be the trails that turn into gumbo mud after a rain or sand.
If you determine to go with DRW learn the 'art' of steering with your gas pedal, for traveling on sand, snow and gumbo mud roads and trails.
I suspect that most of your travels will be on pavement, if so DRW would be the better choice.
As others have posted, consider a Jeep Toad. Our Towed Jeep can be detached from the Tow Vehicle in under a minute and reattached in less than 2 minutes. Plus we can get our small 2WD DRW motor home to a lot of remote camping spots and it's nice to set up a base camp and use the nimble jeep to explore the area.
Whatever you decide it will have some real limitations, all in all, any stock SUV will do better on any trail, because your rig is so large, DRW or SRW is not going to over come your rigs size and weight disadvantages.