We camp in National Forest camps and primitive camps frequently/ all the time with our View. It is not 4x4 and honestly I don't see the need for that. If I'm going where only a Jeep 4x4 will go I would toss in a tent and forget about a RV. A few months back we went to a place I kayaked when younger beside a beautiful river. Back then it was rutted, barely gravel road, today they have paved it and made dry camp spots along the river, designated, with gravel pads, no hooks. I suppose if you are flush with cash and fit into it the new Boldt by WGO might help with MSRP around $200k.
Be more aware of the electrical constraints of dry camp/boondock than 4x4 or off road needs. You can drive a Sprinter almost anywhere in 2X mode, anywhere I want to go. You always will need a solution to electrical needs, compressor refrigerators can be a challenge, is the solar good, generator run time; much more important as well as tank size and dump availability with fresh water nearby.
Bill & Brenda + Mia
'18V24D, '13 TiffinBR32, Tiffin 34TGA, '11 Aspect 30C, 06V23H, '00 HHikerII 5W