Toyota or Honda minivans do very well at everything. They have enough power to pull small trailers if you ever need one. You can sleep in them when they aren't fully loaded with cargo, which means you can use them anywhere to sleep without needing a campground. There is even a company that can convert the interior to resemble the Volkswagen Westfalia camper van with the pop-top. Of course that would cost $25,000 on top of your $7000.

Minivans don't get great mileage but they do better than trucks. There are many companies that make bicycle racks for them.

If you don't intend to haul much at all then get a small used car that Consumer Reports rated well some time in the past. You can buy a new Nissan Versa without air conditioning for just $10,990.