[Charles Freeborn]

My wife and I have this conversation from time to time too.
We're willing to go a little more "rustic" in that it would be more of a car camping type vehicle, rather than a rolling home.
I've worked in an Airstream custom shop before and had an up close look at how they're built / systems, etc, and I can say with certainty that I would never want to have to dump waste tanks. Carrying 5 or so gallons of fresh water's fine, but showers and toilets are so readily available in this country we see no need to haul one around.
Where we've landed on the ideas is to get a diesel van of the Sprinter variety (but probably a Nissan or Ford) and I'll build out the interior with storage, bunks and a very minimal kitchen. A Yeti cooler can go for a week or so with one load of ice (depending on ambient temps). Then we'd go out for 3-5 days at national park type campgrounds at a stretch, then get a hotel room for a night or two to sort out laundry and supplies, get a long private hot shower, then back out on the road.
We like to do city stuff, like museums and theatre, so having to park a behemoth vehicle in town is a big "no-thanks".