You have to weigh the balance between something that has enough power and torque to tow a trailer comfortable vs fuel economy. Getting both in one vehicle is probably not going to happen. 
Using your vehicle as a daily driver is not even a consideration in my opinion. You want to get a vehicle that will tow a camper and not have any problems, or scares, or concerns, or "white knuckle" experiences (as they say), or be under powered if you decide to take a trip through the mountains, or you decide to change trailers in a couple years (which is most likely going to happen). Get the vehicle that will tow and do the job. You want to be able to tow safe, sound, and comfortable. As a daily driver, it will serve well. When you jump into the towing world, you can forget about fuel economy. Dismiss that from your thoughts immediately. We opted to have a good sturdy truck for towing (almost anything), and an itty-bitty car to run-around in. Only on rare occasions do we have to use both at the same time.
F250 or 2500 series.... you'll be 99% good to go!