Hello Rove
First off live too far south to be able to speak intelligently about price in your area.
I have read your requirements, my first thought was a midsize truck. Fuel mileage in my opinion won't be much different between a 1/2 ton truck and a Tacoma or Chevrolet, Nissan mid size truck after you load it down. If the trails in your area would accommodate a full size, I would say the 1/2 truck for comfort, the ability to carry your gear. This will feel like a mansion compared to the cx5. A truck bed camper, even with the cab can't be over your parking requirements. Do some searching and read some of how creative others are doing overlanding with a truck bed conversion. Good luck let us know where you land.
Russ