I did most of my boondocking from 1990 to 2003 when I lived out of a '84 Toyota 2wd. Currently building a fairly large camper (nearing the end!) on a long bed Tundra 4wd... that was intended to be for 2 people which is why it's large. When I asked my wife what amenities she wanted, she said nothing more than what we had before (she was camping with me that last 2 years)... which was pretty much nothing... so I thought a 1/2 ton would be adequate. The camper is a place to hang out on the rare bad weather days, and cold nights. Mostly storage (outdoor accessible is best), and places to sit and sleep. Showering, pooping, cooking, etc are done outside. They can be done inside if necessary, but it's more work. No heat except for a couple candles or burner. No fridge, either. Moving with the seasons and camping in remote places makes it so much easier and more comfortable to live this way.
If I had it to do over just for myself, I think I'd be in the cheapest Tacoma 4cyl 2wd with a stick shift, locker, regear, mild lift, bigger tires... and with a smaller camper of course. Better maneuvering and parking, better on the trails. Plenty of luxury and easy living.
I guess what I'm getting at is that when living in a vehicle, the "less is more" aspect is pretty acute, at least for me... even though I'm old. The more "home like" luxury you embed, the more cost, maintenance, weight and size compromises you make. Even stripped down, it ain't backpacking... with >20x the amount of stuff I could carry on my back, and how easy it is. But in the sense of being in the wilderness away from everything and spending a lot of time outside, it is a lot like backpacking... which is what I like.
Hence the dilemma. I don't think I can relate to the desire for more as I age. Even though I could afford it, it isn't worth the tradeoffs to me. I will upgrade to a stool I can sit on while I poop, as my knees are not handling the squatting so well. I might even get a fridge since they are so cheap now... but probably not. Plenty of good foods will keep for a week without cooling, which is enough.
A bit of my dilemma! Less can be a whole lot more which is why I did the off-road motorcycle thing in my younger years instead of a Jeep which was very common where I lived. Later, living in Tucson I also did some car camping to get away from the "cube farm".
Having tent camped in places where my tent froze solid and couldn't be folded, I am more inclined to have a hard shelter today. As noted, having a minimal toilet area is something I appreciate these days as my knees age and, an inside shower is huge for me though, a bucket and wash rag work and are pretty good too.
For me, a Grenadier is a leading contender for the ultralight camping and travel option today, though a good Land Rover or Land Cruiser would be fine too at a reasonable price point. I could always add one of those hardened mini-trailers or one of those Australian "tough as nails" trailers. If a 4x4 MB Sprinter "vanlife" option was >$100K today, I could see that as a viable option as well with some compromises for how far off-grid I go.
Then the practical side of me says, as I get older, I need a bit softer "roughing it" rig. Who doesn't want a better bed and my back is not as good as it used to be so, sleeping directly on the ground is a last resort these days due to the painkillers needed! Having a bit more insulation from cold weather isn't a bad thing either (I'm thinking of you North Rim Grand Canyon and that 20F overnight low in a 3-season tent and sleeping bag! Slept fine but, packing up was a real challenge with everything being hard frozen in position).
Having a better refuge from inclement weather and room for a friend or two is never a bad thing either!