What you are asking for is Super C RV capacity out of SRW truck and this will be your compromise. You need at least a DRW Class 3 truck so you have sufficient payload to carry a camper, your desired add-on's plus the tongue weight. Rear overhang is not an issue if you use Torklift's SuperHitch and SuperTruss since those are rated for 12K lb trailers on up to 4' extensions.
You could do the same as what I originally did. I already had a capable SRW that I was not willing to replace at the time and upgraded it so I could carry a 2T camper and tow a 4T enclosed trailer. You will be over GVWR but can upgrade the weakest components to make this work if you must have a SRW truck. We put 30K miles safely on our combination and would have put more, but decided we wanted more living space. The only way to upgrade to a larger camper was to upgrade the truck first. We are looking to replace our 2T single slide camper with a 3T triple slide model next year. Unlike you, we do not full time in the camper but we make short trips twice a month and typically two long ones each year. All of our living space is on the truck so we can take toys and other distractions with us in the enclosed trailer. Having the toys also allows us to bring "run around" vehicles that are small and nimble (although open air) which reduces the amount we need to use the truck.
You may want to rethink why you would drag around two living quarters and rely only on the truck as transportation if you are full timing. If you think you will also have a car, realize that anytime you want to move somewhere both of you will be driving vehicles and now you will be looking for three spots to hold them when ever you make a stop.