We also have covered the gambit of camping. 53 now, been camping since I was a kid. Went from ground tent, to tent camper, to 30' ToyHauler & just downsized to a StarCraft AR One Extreme 18 QB. We are VERY happy. Set up & take down time is VERY short. We also seriously considered an X-Venture (they are by far the most HD off-road trailer I have ever seen).
There are pro's & cons to everything, including ours. The best thing to do is to REALISTICALLY & SERIOUSLY consider your family's comfort zone. We are all different. I do not consider our camper an "off-road" camper at all. I would call it an "off-the-beaten-path" camper. It is CERTAINLY NOT my idea of extreme at all. But, for $14,500 brand spanking new, we do have the following: Hard side, 26 gal Fresh water tank, 9 gal black, 13 gal gray, Queen short bed, storage galore, 6 gal lp/elec water heater, 2 burner stove w/powered vent, small 2 way fridge, toilet w/roof vent, tiny tub & shower & skylight, AM/FM CD stereo, 13,500 btu A/C, furnace, insulated & enclosed underbelly, 12v deep cycle battery, 20 lb propane tank. Plenty of ground clearance to get off the beaten path, 235/75/15 tires & full size spare on rim, push button electric awning.
I could not justify $21,000+ for an off road trailer & still be sleeping in a tent, nor could the wife. Then there are critters. Critters don't bother me much, but they do the wife. There is some level of comfort to having a hardside camper when in predator areas---even though a determined one could still be a problem. To deal with our small camper, I have outfitted our truck to help with the issues. We put an A.R.E. MX series cap on it, toolbox on 1 side, no windows but "windoors". I made my own bedslide w/storage underneath the slide. Table & chairs go under the slide, 82qt (dedicated fridge) & 50qt (dedicated freezer), Honda eu2000i, are on the slide & tools, firewood, etc., etc. I am not done yet, it is a work in progress. My Power Wagon pulls it like it is not even back there. 3500 lbs. I was able to reuse all of my 30' ToyHauler's 12,000 lb weight distributing/anti-sway hitch. It tows great, no sway at all, even when passing or getting passed by semi-trucks.
Because they are made cheaply, I did have to do some HD-izing to it. Not that big of a deal to me. The mattress sucks. We will be getting a new one shortly. I installed a 24" flat screen tv on a full motion mount & a dvd player. I probably will install my own stereo some day as well. I am recently retired, the wife will be too in about 4 months. Then we can hit the roads/dirt roads & start living our dream. To travel the US of A, see the sights, small towns, fairs, festivals & some off the beaten path travel as well.