There are a lot of things to consider. How often will you take a week long adventure with the whole family? How big is the dog? Can the dog ride in the 2nd row with the kids? How big is your tent? Do either of you tend to over pack? Do you have a camp kitchen with all the items you need or do you pack kitchen items from the house?
If the dog can ride in the 2nd row and you aren't over packers you may get by with just a "trail rack" mounted to your tailgate. Before making any purchase I'd make sure my camping gear was organized and packed as tightly as possible and try packing the JKU several times seeing how things fit. Our camping gear fits in precise places every time so we now how to make it fit every time. The JKU's have a lot of space under the 2nd row so utilize that to the fullest.
When traveling with the whole family, my self, husband, a 20 year old, 2-17 year olds, and an 80lb doberman, we use a roof rack. It weighs 150lbs dry so it only goes on when 4/5's or more of the family goes. When there are only 2-3 of us and a dog we just use the cavernous cargo area.
We also own more than 1 tent, one family sized, and 1 that will fit 2 people. We also have a myriad of coolers (cheap garage sale finds) that we can choose from depending on whose going and for how long.
I would avoid a hitch hauler if you'll be anywhere near rocks or ruts, they get hung up pretty easy. Trail racks keep coolers and such up and out of the way, full racks are handy but heavy and expensive.
Here's a few pic's from a fall camping trip, we opted for the full rack plus an interior rack that fits in the cargo area.