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.