Though I still stand by my earlier comment about just renting a vehicle when you actually need one, there is another option- which I'm sure I will take some heat on. Get a used Suburban.

Reason is that it is comfy on long road trips, can carry people and cargo, will have more room than you need for camping, and will readily tow a trailer for anything too bulky to fit inside and/or a hitch rack to carry your bikes. Fuel economy sucks for daily driving but not too bad for weekend excursions. Liability insurance also tends to be cheaper than an econobox as well.

We had a '99 Suburban prior to the current Jeep Liberty. We aren't seeing the fuel savings that we anticipated by downsizing and miss all of the extra room- especially now that the wife has decided that we are going to become more 'outdoorsy' and started fishing and talking about camping.