If you have to "stick build" a camper, the use of composite structural panels would be best, as many custom expedition type units have done. To keep the water out though, you can't do better than the Bigfoot or NL campers, with a one piece fiberglass top overlapping a one piece fiberglass bottom. In truth you could execute it better than they do, but the concept is as watertight as you will find. Anything built of panels will have a hundred feet or more of seam that it prone to leak.
If I was doing a custom I would laminate a composite shell, outer skin - structural foam - inner skin in two halves and then bond and tab it together. This could be watertight and airtight. Then be very careful about the roof penetrations - how many and how treated.