You'll have to look for areas where you can get your camper in as far as possible. The camper access will limit you. I've seen hardtop campers setup, and most are quite aways from where need to be. If you setup like that, you will definitly need atv's to get you to the trailheads, and walk in from there. Atv's are only allowed on roads open to motorized vehicles. You can't even park them off of the roads or you'll be fined. Atv's also need to be registered in Colorado for use.
There's nothing wrong with that plan, you'll just have to look into it. You can obtain road access maps from the DOW. But mind you some the motorized access roads are more like logging trails to us. As a example 1 road I've traveled is 5 miles in length, and it takes over 1hr to drive in 4-wheel. No way you could haul a camper on such roads. There's alot of roads like that in the National Forests you'll be hunting. You might want to consider setting up your camper, and tent in 2 different locations. Camper as far in as able, and the tent back in closer to the area hunting. Then sorta work out of 2 camp setups.