for a Casita, it doesn't have to be a full size pickup, any midsize pickup or V-6 midsize SUV should do the job. Two of my Casita owning friends pull with minivans. I would probably go with a full size van, but not 'HD' or 'SD' been holding off on Econoline and Epress to see what comes of Transit and Ram Promaster.
You are most likely to find the luxury fitments you want in SUVs, but they will be packaged with other goodies you might rather not pay for. Heated seats, particularly, tend to be packaged with moonroofs, rear seat entertainment systems, climate control, onboard navigation, and full function computers in the dash.