If I was SINGLE and looking for challenging places to camp and ride my adventure bike, I would prefer a light weight truck camper and tow my single bike on a strong frame open trailer. Adventure bikes are not garage queens and don't need a heavy enclosed trailer to keep them out of the weather. A bumper wench on the truck would be a very good investment. Let your adventure buddies provide their own housing.
If I wanted to share my adventure with a riding buddy (or two), I would look toward a small toy hauler that can handle two bikes. However, the weight and size of the TH will limit your camping to established CGs.
You may want to post this question in the truck camper and toy hauler forums for more suggestions.