Do the math with campgrounds and hotels and restaurants and groceries and gas and wear and tear on the SUV (figure $0.65 per mile) and then compare that to flying to Phoenix and renting a Class C camper.
With any RV the most important and limiting aspect will be real sleeping capacity for 5 people that does not require moving lots of stuff at bed or nap time and installing a platform and moving cushions, etc. The popup type are going to be the least accommodating.
There are hard sided travel trailers that have a roof line that slopes down to the front and will help with fuel economy and provide more usable storage space than a popup type. Also a lot less expensive than a full size popup type.
