Crew cab pickup with 8’ bed and openable rear window.

Then get a topper with connective rubber boot and openable window so you can pump heat into truck bed from cab.

You can get 2 military cots side x side and still have 2’ at the end (and under cots) for storage/supplies.  

The truck bed should also have led lights inside, and an electrical outlet.

This setup has way more capability, room, and comfort that an suv.

Sean’s suggestion has virtue, and one could built upon that with a slide in camper.  On the other hand, having “been there done that” but not with the slide in, there can be disadvantages.
 
A pickup is great if mostly used for camping in remote areas and occasional utility runs (solid waste transfer station, hardware store / lumber yard), etc., and there is another smaller, more nimble, more economical rig when the behemoth isn’t needed.  A full size pickup will get 15 – 17 mpg on a good day, though I believe the OP lives in the southeast where gas prices are lower than here in the northwest.  My Dodge Ram ½ ton crew cab with only a 6’ box can be a pain maneuvering in town traffic and getting in and out of parking slots.  I so appreciate its now companion Ford Focus (37 mpg average, front wheel drive so not a SUV, but it does well in snow with good tires but it doesn’t have a lot of ground clerance) as the daily ride, and with the back seat down there is an amazing amount of cargo space.
 
For my future planning I’ll look at a smaller SUV because of AWD/4WD and more ground clearance than the Focus has, but much better fuel economy and easier maneuverability in town and parking lots than a full size pickup.  I have a 4 person stand up tent (REI Big Hut 4), a nice cot, folding camp table and chairs, large cooler, which all fit nicely in the Focus now (with back seat down), so cargo area won’t be an issue.