You're limiting yourself pretty good without being willing to upgrade to a better tow rig.
If you have to add up how much you, the dog and passenger weigh.....
A. You don't have a big enough vehicle for the camper you want and
B. Won't like towing anything that big with your lack of experience. Actually you won't like towing a trailer that big with a 10 year old minivan or the wear n tear it will put on it.
Now if you're just making a few weekend trips, shorter drives, no mountains, then it's maybe doable but I couldn't reccomend it for any real duty cycles towing.