I went from tent to roof top tent to trailer with roof top tent to tear drop with outside cooking, with awnings all around. The wife hated each and every one, could never make her happy and want to go with me. I no longer camp on the trail due that, so I would suggest talking with the other half and see what her requirements are. I miss my trailer, but a happy wife makes a happy life.
If I was going to try it again, I would look at one of the little A Frame trailers,(Chalet, Aliner and now a host of others), the smallest one, redo the frame and suspension and go from there. They are warm, give more protection from the elements than a regular popup, have a lot of features that make the softer side happy. they can be set up to cook outside or inside, have showers, fridge, hot water. Keep the bugs out. I have had two Chalets, never truly off roaded one, but to the level most call off roading I am pretty sure they would work quite well. Now I am thinking again! Nope just bought a new motor home, my life of trail camping is over.