How cold of temps are you expecting to see? Unless you are talking a lot of temps below 0*, you don't really need a four season camper.
You mention off-road, so would really caution on slide out units, large units that have large rear overhangs, and possibly even tall basements. Also, may want to stay with lighter weight campers so you can stay SRW.
Since it is only you and your best friend, anything in a 9' or 10' should do. Without knowing all the details, especially like new, used, or budget, I would suggest something like a Lance 845, 915 or 1010. Something in the Bigfoot 1500 series or a Northern-Lite would also work. Then there is also the non-slide units like Adventurer.
Strongly recommend figuring out the TC then worry about the truck. This way you want buy a DRW then only a 2,500# camper or vice a versa.