With a dually you are going to be very limited in where you can go. It would be my last choice for trail use. Campers sit high as they are on the bed of the truck and the overhang is not going to be a problem anywhere that you can take your truck so long as you don't leave the steps hanging down.
The more weight in the bed the more stress on your truck's frame, suspension, rims, and tires, so the lighter the better. A full size camper can weigh anywhere from 1800 to 3600 lbs dry and this is before you add anything.
Popup type provide half the storage and will have a cassette toilet at best. They will also have half the fridge space and half the water capacity and half as much propane and half as much black water storage capacity, and these will all limit where you can go and for how long. Many primitive camping areas require that the camper be fully self-contained - i.e. a head with a holding tank and inside stove.
People go overboard in recommending solutions so you need to decide which opinions are valuable and which are best ignored completely. Don't expect to go places with a full size pickup and hard sided camper where you could go with a mini truck with a popup camper. They are completely different in their off road capabilities not the least of which is their width, length, and turning radius. They will also be very different in the creature comforts they can provide and where each will be able or allowed to go.
We can go on any surface ROAD and ford small creeks but would not dream of going on half the 4WD trails in the western USA with our full size 4WD truck with its 3,000 lb. camper load and our truck has a relatively short wheelbase and is SRW.
On the flip side we can also get into any gas station and stop at any store and fit in any parking space and get 13.5 MPG on average when traveling with a full load.