I don't mind towing, but I do it a lot.
Friends of mine and I have had this discussion many times, the camps very much divided. The consensus, 51/49, is that you don't want to drive what you're sleeping in, to a certain point, especially if you can afford a motor home and a tow behind car.
The OP is looking for either a tent camper or a light hard-sided trailer.
When I was a kid we towed a Coleman Pop-up all over North America, behind a Series II Jag, 3.4 then a 3.8. Two kayaks on top of the pop-up, bikes on the back, combat-wombat loaded. My Dad always said that when we pulled into a camp, the denizens were stunned: 15 minutes to his first Gin and Tonic. My sisters and me had specific tasks, Mom as well.
The Jag broke, wheel bearing, just once. We were in Canada, probably 1967.
In weather, the tent pop-up had issues. We could have used a better structure a few times.
Look at these:
Chalet RV - Folding Travel Trailers
Key is, much of what I learned about life was on our many trip around the west, towing the Coleman, hitting rivers with my father. My Mom would pick us up at the put-out...I'll have to scan some of the pics of two fiberglass boats on the top of the Jag. My Dad was, and remain, an idiot
The fact that you are doing this speaks volumes. Good luck.