Storage can be an issue. It's great to be able to "set camp." Then use the vehicle to explore or a run about. Less loading and unloading. Trailer with 20gallons of water, 5 gallons of fuel, 20# propane, batteries and Engel..loaded is still well under 2000lbs. Leaves lots of room in the Jeep for people and luggage, etc. All safe, dry, clean and secure. Everything is a compromise I suppose, but camping is much more fun when well-equipped.
I liked your idea of an in-rig bed. Safe dry and off the ground!