If you are thinking about swapping your truck-camper for a C to use for the same sort of off-road adventures, I suspect you will have trouble finding one, particularly with DRW, that you can take to the same places.
C motorhomes are usually built with long rear overhangs, so as to make sure that dual wheel axle carries about 2/3 of the load, and this usually means problems with departure angles. We get hung up on gas station driveway approaches. At least the Sprinter won't be stretched in wheelbase, so the high-center limits will be defined by the longest wheelbase coming out of the factory.
The promise of a 4x4 Sprinter holds better for a B, particularly if you can build what house you need in the confines of a short wheelbase, non-extended model, and keep it low or medium top for lower CG.