Due respect, but you're comparing a used high production sailboat (a new Elan is probably closer to $250K or higher in sail-away trim than the $140k you mention) that is designed for coastal family cruising to a new off road capable, low production camper. The sailboat is really nice, but it's not designed for getting well off the beaten path. Sailboats have exactly the same issues as campers in cost vs materials and capabilities. If you are looking at nice used campers that don't have any added features over stock (like a used Airstream), then your sailboat comparison is valid. If you are looking at an offshore capable sailboat with higher grade materials, features, and capabilities, then you see the exact same eye popping costs. High end materials and systems are expensive today. Scary expensive. There is no escaping that.
I agree with everyone that the costs are really hard to wrap your head around and to make sense of. Especially when there is a leap of faith for a brand new untested design. I've got a deposit on a Kimberley Karavan. Took many many months to get my head around the cost. I can make it work now that the kids are out of the house (but couldn't have 10 years ago), and there is a proven track record of Karavans lasting for decades after being used hard in some reasonably demanding conditions/locations (and I'm not looking for it to do anything beyond that). Overpriced? Well, they're definitely not under-priced or inexpensive! But I get great features, function, and support, along with a track record of holding value and performing as promised. I can live with that trade off. These newer ones are a slightly greater leap of faith since there will definitely be growing pains that go with the first models of any vehicle/boat/camper/etc as all the bugs and unknowns are worked out. But, if they check all the boxes you want checked, and you have faith in the builder and components, then you have to be honest about your own calculation of value rather than what the final cost is. Added function and capabilities have a cost.
And price gouging is a tough term without knowing a lot more info. These are expensive components and systems. Read some of the amazing builds on this forum....many hundreds of hours of build time. Be honest about the cost of those hours and you start to realize why custom builds are even more expensive than these. Going back to Kimberley, they've built hundreds of units, so they have a pretty stable cost (ie. they generally know the cost to build, cost to maintain the company, cost to ship into the US, and cost of added profit). For these newer campers that are on the build of unit 1 or 2, those are likely all still numbers that they are guessing at (ie. it wouldn't surprise me if they have no real idea what the labor cost to build each unit will/should be, and the cost to debug/fix/modify the first 10-15 units is). So while this could be companies just trying to maximize profit, there is also a decent chance that it's companies trying not to lose their shirts by building new higher-end models. Unfortunately, it's hard to know for sure until these have all been on the market for a couple of years!