We used to do a lot of winter camping and I say I won't do it again as it is hard on the equipment. That said we camped last weekend and we did have a not so thin layer of ice to deal with on the coach one morning. Everything you are talking about doing is completely doable with practically any rig. Do choose a model/mfg that is known to insulate well or you'll burn a lot of fuel keeping it warm. Depending on how much you want to spend you may end up with things like auto start genny and aqua hot that will make winter camping even less taxing. We also travel with two dogs.