In my (humble) opinion here's the 4X4 camping setup that you want - will go almost anywhere and let you camp there in complete comfort. Small enough to run around in too, exploring, sight-seeing, and shopping for camping supplies ... no toad needed:
http://www.tigervehicles.com/tiger-models/FWIW, we have an E450 Ford based 24 foot Class C with pickup truck ground clearance (plus I've changed to larger diameter tires), nothing hanging low (like sewer, generator, automatic steps, etc.), an up-tapered coach rear end to provide a useable departure angle, large tanks for a small Class C, and the rugged reliability of the over-kill E450 chassis. We don't tow because we can fit it in most places. We do take if off-highway in dry weather, but .... 4WD would sure be a nice addition.