If you are serious about off road and bad off roads is going to be pretty hard to beat a truck camper. Basically, you need something short, with good ground clearance, and 4x4 drive. There are a few 4x4 class C's (Tiger, etc) that are comparable but they tend to be specialty items and will be hard to find. There are also a few 4x4 class B's that might work (Sportsmobile, VW Synchro Vanagon) but used ones are rare. On the other hand used pickup trucks are easy to find and used slide in campers are available (at least on the west coast).
Towing a trailer is generally going to handicap you. Probably the best option in trailers would be one of the off road pop-up trailers though they are less self contained they can work well. The Australians have some pretty neat off road trailers but that doesn't help you.
Take a look at some of the trips in the truck camper forum to see what people are doing with them.
Good luck