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Yeah this has crossed my mind too but at the point I feel like the van would be a similar set up but in smaller (yet bigger inside) package.I recommend towing a small to medium trailer. You can get to a campsite that is reasonable, unhook and go in to town. It has a fridge that will keep food cold while running on propane for weeks at a time. It will have all your belongings: clothes, dishes a decent mattress, etc. and it will be yours, as opposed to using AirBnB items. With a van, if you camp you have to tear down to go exploring. With a trailer you simply disconnect and head in to town. A Raptor will allow you to explore trails that most vans can not. And, it's much more comfortable than you would think. Get some nice seat covers in the back for the dogs and you're set. I have enjoyed AirBnB, but it's nice to have your things on multi-day or multi-month outings.
I have considered those too! It is still in planning phase so I have time.Ford Transit tall vans have a better reliability record than the Sprinter. You can even get them with the 3.5tt motor or diesel.
You will need to modify rear suspension on a Raptor to haul all that gear.