I retired almost 5 years ago, WOW how time flies, and bought a Ram 2500 diesel and 34 foot 5th wheeler. We travelled out west a few times, enjoying the "luxury" the space gave us. But I started to get tired with the size of the rig, and stressed.
We went to Africa on a 4 week self drive safari - wife and I, a GPS and a Ford Ranger with an Alucab roof top camper from Avis. We spent 4 nights in the camper, at camp sites, then 1 or 2 nights in nice lodges, in Namibia and Botswana. We had a fantastic time and really enjoyed the camper. The only stress was being woken up at night by roaring lions !!
So we sold the 5th wheeler when we got home, and started looking for something for North American travel.
We spent about 6 months looking at different options for a new camper, Sprinter, Lance, Four Wheel camper, etc. Overland Expo is a great place to get inspiration and ideas from others !
We came down to 2 "must have" items - a bed my wife could walk around to make (bad back), and a bathroom with a door. We also wanted to be self sufficient for a few days, etc. Our budget didn't allow us to just go out and buy something.
So after a few sketches we figured that a 14 foot long box would meet our objectives. We wanted 4WD so started looking for a truck.
We bought a GMC Topkick C4500 with a GVWR of 17,000. The cab is about 9 feet long, so total length 25 feet, plus a motorcycle on the back. The box is 8 feet wide, and the truck till be about 12 feet tall when done.
The point of the story is how we got to decide what size truck we wanted, and how that was based on our experiences. As others have said it's all about compromise. We maybe could have gone with a Four Wheel Camper, but that didn't meet our (wife's) criteria. We're still in the building phase. We're still pretty close to our original budget, for cost, but way over on time !!
Good luck on your "journey".
Bob
https://www.expeditionportal.com/forum/threads/gmc-topkick-4x4-expedition-camper-build.183972/