Small (non-teardrop) Off-road travel trailer

Sadly, you are searching for a unicorn, and so am I. Check out the little rig in my signature -- it almost fills the bill, but they don't make it anymore. We take it offroad a lot (carefully), but it is really not designed for that kind of treatment. (It's a Fun Finder X-139 -- if you can find one used, grab it.)

The other issue is your tow vehicle. Do some reading on Wranglers as tow vehicles, and you will want to cut back on your trailer weight.

Good luck!!