Wow, a post right up my alley!! I camp from, and commute all year, on a bike. I just back from a
3 day camping trip to Vermont on the bike.... to visit (drumroll) "Truck Camper Warehouse!!"
You really need to think about HOW you'll use the bike... and maybe how many bikes you can afford to own!
I can afford only one bike. I use it for year-round commuting to work, vacation touring/ camping, running errands, etc. So, there's stuff my bike NEEDS to have: comfort/ fit for a big rider (I'm 6'5", 290#), ABS, all-weather/ all-season, all-road ability, affordability, good fuel economy, reliability, and some conveniences (clock, gas gage, luggage, etc.). To get that, there's stuff I'm willing to trade off: speed, on-road performance, off-road performance, 'sexiness', etc.
The reason I say all this is because the bike you haul around and camp with would probably be different than the bike you'd go touring with, or the bike you'd have if you went TWO (two-wheels-only), or the bike you'd get if you lived far 'off the grid', or the bike you'd get if you were a speed freak into moto-GP.
When I was a kid (in the 1970's), stock/ factory bikes all looked very, very, similar - they were pretty "standard" and individual riders would customize them for the riding they wanted to do. Sadly, it's not like that anymore - bikes have evolved into different categories - sport, cruiser, dirt bike, luxury touring, etc. - all targeted at their specific intended use.
"Dual-sport", "Enduro," "adventure touring", etc is a cross-over type bike meant to be able to do a little dirt/offroad while not being terrible on the street. Since each such bike is a compromise, they excel at neither and usually are biased more in one direction than the other: compare a Suzuki DR 650 with a Triumph Tiger 1050. Are they really both the same "type" of bike? One is really 'dirt-oriented', the other really 'street-oriented.'
So again, figuring out what you want a bike FOR... how you're going to ride it - that will answer your question for you.
Guys tow big Harleys long distances, then ride the paved roads around their destination, or attend rallies or whatever. Other guys tow dirt bikes and camp at their off-road riding area. Plenty of RV's have scooters on the back - just enough to run to the camp store or into town. And there's guys like me who tour/ camp right off the bike - and even that group breaks down to touring mainly on- vs. off- road, and tour hotels vs. tour campsites.