Looking at specs for your truck, which all you indicated was that it is a 4cyl. access cab, your payload capability varies from about 850 to 1575ish lbs. A lightweight truck camper is not out of your realm. Suspension help will be necessary and tires and now we start spending the dineros! And in all likelihood it still won't be self contained. So, as suggested, you may need a heavier duty truck. Truck campers are the best do it all camper imho, and worth the money for the freedom and ease they offer.
Good luck on the right decision for you. Let us know.