We just got this pop-up trailer. It pops up and down in less than 30 seconds (like a tent trailer) but it has solid walls instead of canvas. It is made specifically made for " off-roading" .
It sleeps two, has a stove, refrigerator, furnace, porta potty and all the other bells and whistles (except we didn' t get a microwave or air conditioner, ' cause they will only operate on 110 volt). Should be a lot more comfy than sleeping in the back of the 4Runner.