Considering you already have the camper that meets your needs, I vote for just getting a heftier truck. It will be much cheaper, well within your budget, and your camping "style" will not change.
Considering you are comfortable with a truck and trailer, you appreciate the ability to separate the two, leave the trailer behind and take the truck for running around without having to break camp every time you want to do something.
Although a CLASS-A affords a certain amount of luxury and convenience over a truck-trailer combination, you will probably need to consider a toad unless you don't mind breaking camp to run-around. If getting a toad, will you keep your 1500 as use it, or purchase something else. If you end up getting another vehicle, then you're now adding to the $100K budget, probably, over budget.
The choice is yours. But if I were in the position you described, I'm one of those that advocates getting the heftiest truck you can afford. So, I'll go ahead and say it: a 3500/F15 duly, crew cab, diesel will provided you all you're looking for in a tow vehicle. Pluse, you can sit 5 people, or 2 adults and 3 very large dogs!
The decision is still yours, and yours only. You also have the option to do nothing. Just keep your current rig. Nothing wrong with that. Personally, I see no difference towing 5 miles or 500 miles. 500 miles is simply 100 - 5 miles increments!