Kodiak, if you just want off road capability with a place to sleep off the ground, maybe a porti pottie and some outside camping cook gear for meals, with space for gear, you might check out a "truck tent" for your F150. I expect the side by side trips are warm weather only and it gets you to some wonderful places where you can stay over night.
Granted ours was a long bed 3/4 ton but you get the idea. We built a fold out platform over the wheel wheels for our queen size airbed, and sized the structure to hold four under residential bed plastic totes for organized camp gear and food. Leaving room for lawn chairs, toilet, etc. We even had that all behind an in bed diesel tank/tool box combo that took the front 2.5' of bed space! It all fit below a roll up tonneau cover. PM me for pictures.
Another option is a truck topper but the tent might give you greater interior space in height and length.
In both cases you'd keep you motor home for other travel.