You are probably going to be happier and cheaper by using two vehicles. One for most of the family and day trips while camping. Another to pull the rig.
You really can't get a decent sized camper with enough beds and some floor space for everyone for a weight that could be pulled those vehicles.
We were a large family growing up, went to the lake every weekend possible in the summer, slept in lawn chairs initially, finally got a tent between my junior and senior year of high school.
Looking back on it fifty years later, my sisters and brothers and I say it was the best time of our lives. Camping is a wonderful way for a family to grow up.
But it was a logistical PITA for my parents, that got a lot easier when they started taking two vehicles.
Full-Time 2014 - ????
โNot all who wander are lost.โ
"You were supposed to turn back at the last street."
2012 Ram 2500 Mega Cab
2014 Flagstaff 832IKBS TT