A Jumping Jack trailer was mentioned and it will go anywhere a vehicle can go.
IMO, a JJ trailer isn't anything I'd want to live out of for 6 months, but I've had worse.
My utility trailer is similar to the JJ, heavy steel frame 4x6 bed with outboard fenders, it could have fold out platforms on the sides like a JJ. Point is, I doubt you could hurt it dragging it over rocks or through brush, if the tow vehicle goes through or over anything so would the trailer.
That kind of trailer with a tent mounted is fine for camping, nicer than a RTT, IMO, and that JJ arrangement could sleep six. Such trailers can be turned around and maneuvered by hand, light weight to tow.
There are many solutions available, costing say $1,000/1,500 upward, as to vehicles, saw a clean 1990 Subaru AWD van for sale near Rogers, Ar. that would make a great little camper for up to 5 people, (two bunks on the sides and one in the center), and they were asking $7,000.00!
Now, my Coachmen travel trailer is a different story.......