FWIW, I'm out in the field in a camper quite a bit (and have camped for decades in every way you can imagine), and we have considered something like a sprinter van. However, what always stops me is that I don't want to set up and break camp all the time. I'm up early and if I have to unhook everything that means getting up even earlier. Then, when I'm going in late after shooting, it's back to hooking up the things I need, leveling, etc. Plus, I've heard more than a few instances where people have decided that, despite a tag, a campsite wasn't being used and moved in while the registrant was out and about (state and government campgrounds). I spent 60 days out west this year, no way would I want to setup and take down that many times. (And yes, I realize you can do just the bare minimum or even just pull in at night and call it good, but at multiple points doing the same stay you'll still be hooking up to services and unhooking.)
For me, a small camper towed with an SUV is much nicer. You have a smaller vehicle when you're out exploring and a single set up / break down at camp. YMMV, of course.