Ach! Sehr Schon!
How bad would it be to tow a 20 foot travel trailer built for off road into the areas you like to visit instead of the van? In the 13 years I have been full timing the trailer and truck have been in some difficult locations in Utah, new Mexico and west Texas. I have been mostly limited by turn around room not roughness of the road or trail to a chosen camping spot.
I've gotten myself into some places that required multi-point turns to get out. And there were camping spots (particularly among trees) that were tricky getting positioned in with just the van. But most places I go (80, 90 percent?) are easy.
One of my favorite places. Enjoy.
To Barney's question:..20' Terry, 1/2 ton 4x4 Chevy..No problem ever in all the Western states....Sometimes you just have to stop at a turnaround spot and walk, checkout things ahead...Ride Safe!