Hi pods8,
Some thoughts...
Your pumping idea above sounds good. However, if wanting to go with gravity, one method I had thought of requires a 'snorkel-like' pipe to your water tank. The inlet (that goes through the wall of the camper base) to the tank is low enough to be below the top of the camper in the lowered position and the top of the 'snorkel' is high enough to ensure the level of the full tank wouldn't overflow. Hard to describe well really but I hope I have done that. Strength of the freestanding pipe would be the weakness. You may need some bracing built into the top portion of the camper to protect it from vibration while travelling.
As for external hatches. The only need I can see from my own experience would be access for recovery gear while driving rough country. I guess we all see a lot of pictures of others campers where this and that wonderful camp-enhancing equipment slides/rolls/is accessed out of hatches left right and centre. In previous trucks and campers all those years ago I have always lived with the weather-tightness concept first. All very well designing for vertical rain while in camp-mode but in a camper the rain is 3D at times as well while travelling with all the inherent internal pressure zones and this can be a problem. It is all a trade-off. I say weather-tight first, convenience of access second. If you can do the latter while ensuring the former, why not.
Dovetailing joints in foam? While I see clear benefit in wood, where the joint is to be stand-alone for strength, I don't see any benefit for foam when the strength of the join is not only the joint but also the enveloping skin of glass over cloth. Butt-joints on foam and then glassing over a cloth and filleting inside I would imagine to be ample for this type of construction. I too could be wrong...