Based on your criteria, id go for a cricket.
The cricket is fine on size for us...probably bigger than we're looking for given our budget, but the problem is the off-road version is $40k. I've got 25k (30k) max if I make some sacrifices the next year.
At this point, we're thinking an OVRLND topper + an Intech Chase or Pursue. The OVRLND has plenty of room for table and chairs and the chase/pursue can function as a tow storage for getting off grid for a couple of weeks at a time during the summer and an insulated heatable shell for shorter winter camping stints. We'd just stick with the OVRLND if we could, but the payload is just too low.
I ************ up when I bought this Chevy Z71 in the fall, but at that time I was thinking I was going to pull and hadn't even considered truck toppers (or "overlanding," which I'm just learning about). If I could go back, I'd get a stronger truck and a 4 wheel camper slide-in with the amenities. But, that ship's sailed and I have be work with and be happy with my reality. Just want to get it right this time so we don't have any regrets and we have a set up that will keep us happy for the next couple of decades.
Part of the problem for us aside from budget is finding a set up that's good for a wide range of trips:
Trips (cold/hot/bugs/dirt roads/off-road)
- Weekend trips locally (cold/hot/bugs/dirt roads/off-road)
- Multi-week trips to boundary waters (cold/hot/bugs/dirt roads)
- Multi-week trips to Rockies (cold/hot/bugs/off-road)
- Multi-week trips to Ozarks/Smokies (hot/bugs/off-road)
- 1-2 month trip to West Coast (cold/hot/bugs/off-road)
- 2 month trip to Alaska (cold/bugs/off-road)