Well, now that I have had a few days to mull on your requirements and do some research, this is my recommendation.
It satisfies the most compelling need, which is to leave quickly.
Vehicle:
2006 Toyota Tacoma Access Cab 4wd, 6-Speed manual
Options:
Convenience Package (CP) -- power windows/door locks/outside mirrors, remote keyless entry system, cruise control and sliding rear window with privacy glass
SR5 Package #2 (SL) -- Convenience Package #1 plus chrome grille surround and rear bumper, color-keyed front bumper and color-keyed overfenders (PreRunner and 4x4 models only), metallic-tone instrument panel trim, leather-wrapped steering wheel and shift lever, variable intermittent windshield wipers, sun visors with sliding extensions and vanity mirror, SR5 badging, upgraded seat fabric, driver's seat with lumbar support, and fog lamps (V6 models only).
TRD Off-Road Package (OC) -- SR5 Package #2 plus off-road tuned suspension with Bilstein® shocks, 16-in. alloy wheels with P265/70R16 BFGoodrich® Rugged Trail T/A tires, locking rear differential, engine skidplate and fuel tank protector, front tow hook, 115V/400-watt deck mounted power outlet, multi-function overhead console with compass and temperature gauge, sport seats with sport fabric and driver's lumbar support and sport fabric, and TRD Off-Road graphics (V6 models)
V6 Towing Package[2] -- Class-4 towing hitch, transmission oil cooler (automatic transmission models), supplemental engine oil cooler, heavy-duty battery,
130-amp alternator and 7-pin connector with converter
Vehicle Modifications:
Suspension- Front: Donahoe 2.5" Coil-Overs set to 1.5" lift. Rear: Deaver 11 leaf pack set to 2" lift. Alignment.
Tires- Set of 5, BFGoodrich 265/75 R16 Load Rating E. Provides greatest load and damage resistance while maintaining fuel economy and road traction. Size is common in the Americas.
Front: Install
ARB Bull-Bar and
Warn 9.5XP winch. Use new
Viking Off-Road roller fairlead and synthetic line for weight savings and improved safety. Install CB antenna. Install one each,
IPF 900xs (fully sealed and waterproof, all metal housing) in spot (mounted to drivers side) and driving (mounted to passenger side).
Engine- Upgrade battery to yellow top optima or Odyssey. Install
Sure Power battery separator (model 1314-200). Purchase the following spares: Upper and lower radiator hose, alternator, starter, oil filter (x2), air filter (x2), engine belt.
Note: do not use aftermarket alarm system. Ignition kill switch ok.
Cab- Install CB, install sat phone, driver and passenger headlamps around headrests. Install seat covers, install HD floor mats. light tint on all side window (security). secondary door locks, steering wheel lock. Install Garmin 478 GPS
Access Cab- Remove seats, install Engel 45 fridge on slide-n-lock, secure storage for computers and cameras. document file. Mount aerial flares (security and safety), mount road flares, mount fire extinguisher.
Bed- Fourwheeler Eagle Camper 6'5"
Options:
REFRIGERATOR (3-WAY) 1.9 CU.FT $700.00
POWER ROOF VENT (Fantastic Fan) $295.00
AUTOMATIC FORCED AIR FURNACE (16,000 BTU) $495.00
FRONT SLIDING WINDOW $175.00
SLIDING WINDOW BOOT $85.00
ELECTRIC WATER PUMP (standard on Hawk & Grandby campers) $95.00
SWING-OUT BRACKETS FOR FRONT JACKS (Required for Mid Sized Trucks) $125.00
AUXILIARY BATTERY SYSTEM $395.00
AWNING $585.00
AWNING LIGHT (PASS. SIDE ONLY) $45.00
PORTA-POTTIE $86.00
SCREEN DOOR $235.00
ARCTIC PACK (REMOVABLE INSULATED LINER) $475.00
REAR WALL STEPS (For Access To Roof) $195.00
12 VOLT OUTLET (Optional on Shell Models - otherwise 1 standard) $45.00
FLUORESCENT LIGHTS - SET OF 2 (upgrade from incandescent) $95.00
OPTIONAL FURNACE FOR SHELL MODELS w/ PROPANE TANK $675.00
SOLAR PANEL- ROOF MOUNT - 50 WATT $560.00
EXTENDED LENGTH YAKIMA "TRACKS ONLY" (UP TO 120") -- INSTALLED $230.00
YAKIMA ROOF RACK SYSTEM (120" tracks, 4 towers, 2 bars, 4 locks) $515.00
Additional camper modifications:
Dual Wedco fuel cans on roof rack, Yakima luggage pod. Possible second spare.
Rear of truck:
ExtremeAir Compressor, frame mounted with 5 gallon tank.