No "perfect", do everything well solution imo. That's why there s so many types of RVs.
TC = best for exploring, short term living, not having to tow a toad and of course "cool factor". Lol.
Moho and a toad are practical for full timing, basically what you're doing, but not as convienent for those weekend trips away from base camp, up into the woods.
Truck and TT = kind of the same as the Moho and toad except the toad is pulling the house instead of the other way around.
Ultimate combo for what you're planning for activities imo would be a HD pickup with a lightweight pop up camper for adventuring and a reasonable TT for base camp.
I'm think I'm also a fan of using a pickup truck vs dedicated motor home. Pickup is more versatile.