Is there a Class C that can be driven into sketchy terrain?

We used our 2003 Itasca Spirit off-road in AZ. Tried in CO but it was much rougher and too many camping even far from developed campgrounds. We had pretty high clearance and had 22 ft of RV to get around single lane mountain roads and across desert roads to the edge of wilderness areas. It was wonderful. But camping was much less popular in AZ than CO. A truck camper will get you further than most RV’s though there are 4wd retrofits.