Check out one of these.
http://www.buylifetime.com/products/blt/pid-65043.aspx
Fairly inexpensive as campers go, high enough clearance to tow off road, and stroage on top for ATV's or other gear. Be sure to look at the image gallery to see different ways to set it up.
I still much prefer to tow something or just use a tent if the roads are too rough, or slick for towing. I have a mid-size pop-up that has good ground clearance that I've towed into some pretty rough spots. If there is any chance of snow, I'd rather set up my camp in a tent so I don't have to tow in the mountains with snow and ice on the ground.
If I didn't already have the pop-up I'd be looking hard at one of these for all my camping.