I used to drive a 1985 Toyota MR2 on light 4x4 trails. I always wanted to turn my MR2 into a rally vehicle. If that is all you are looking for, light 4x4 trails, an Element is your ticket. I know I have seen pop-ups available for the Element.
If I have to park at the trail head and walk the rest of the way, so be it.
You don't need to be silly now.
Just get yourself a cheap 250cc dirtbike off of Craigslist and carry it on the hitch. Problem solved. If you are not looking for a serious 4x4, I would guess the element is pretty sweet, considering the internal room and aftermarket things for camping that are available. I would guess that you could trick an Element out pretty good for heat, cooking, etc.
Hell, if I were looking for a camping rig that I don't need to do serious 4x4, I would probably by a used Pontiac Aztec. AWD and you can get one cheaper than an Element.
Get a used Aztec and save some cash ...
This was the first cheesy vid Google gave me. The tent was a factory option. Wherever this guy lives, it is windy and I have no doubt that this can be done quicker ...
http://www.youtube.com/watch?v=KAaXOT1AupY
Another vid:
http://www.youtube.com/watch?v=3QYmwKcGtos
I would probably take an Aztec over an Element, but mainly because of price and the fact that Pontiac made some solid vehicles and Aztecs are no longer made and cheaper that an Element. Of course, owning a '66 2 door hardtop Bonneville years ago might make me biased towards Pontaics ...