I've been a tenter, pop-up camperer, hybred camperer (full body with pop-up like bunks) and now I have a big TT. A pop-up best a tent because you stay dry when it rains and you have a way to transport stuff but you still get to sleep and enjoy the forest noises. A hybrid best a pop-up because you can a haul more stuff and deal with water (tanks etc.) but you still have a great deal of set up and you still have that tenting like sleep, but you still have a problem with food when in bear country. The full size TT has less set up and you don't have to deal with puting a way stuff wet (i.e. canvas bunks), but you are more isolated from wildlife noises and bears.
I got 19 mpg pulling a 8' PU with a mini van. After putting bikes on top I got 13 mpg.
I got 9 mpg pulling a 23' hybrid with a v8 Explorer, and i really liked that set up but the transmission concerned me (never a problem i just worried about it).
With TT i use a diesel truck.
In my opinion, the minivan and car base SUV is only suitable for the low profile trailer and in most cases even the 12' high wall PU's are too much. Light duty trucks (150, Suburban, etc) can handle the 5-6k TT. After that its the bigger truck.
Capacity aside, in my opinion a truck is a better TV for camping, because when you camp you have to deal with stuff you don't want to put in your van or SUV, dirty wet stuff, be it fire wood or the leaking garbage bag that needs to be transported.
Chances are, if you like camping you'll reassess your purchases and make changes a few years down the road. Just get out and Camp! Every time my kids have to complete a school like questionair with a question of the kind "what do do you like to do with your family?" Every time my kids answer "go camping". I feel like i have succeded as a father.
So what I'm saying is don't let the compromises of TV and camping rig get in the way of doing somethning great.