To the OP, we did that just 1 1/2 years ago. I had an 2013 Ram Dually with a NL 10-2 camper and it was just getting hard for my wife (who broke her ankle very badly with still 2 plates and 12 screws in it) to get into the camper and then into the bed.
We got a small class C with twin beds in the back and it had a sofa in it till I decided I wanted something more comfortable to sit in so out went the sofa an in went the following:




This is my rig and what I tow behind it. I sure don't have a 7500# towing capacity but I do have 4200# which tows my Subaru just fine.

The Subaru is a nice little SUV to explore with and gets me most places I want to go. If I want to go rougher I'll bring my Polaris UTV 900 Trail and use it.