It sounds like you are getting this figured out! Over the years I have owned a tent trailer, overhead camper, bought a cab high canopy, built a canopy, bought a 5th wheel, a travel trailer and built up 2 Casas'. For ease of use and flexibility the Casa is by far the best for the 15-25 nights a year that I spend in it. The cab high canopy was just the worst.
You are right about compromise, sacrifice and prioritize. I have spent about a year of my life sleeping on the ground, in a tent or on a glacier and by now my priority is a good bed! I have sacrificed stand up comfort for sit-up comfort by buying a tall canopy and compromised the need to take lots of stuff for a more minimalistic take just what I need approach. Having spent up to 8 days in a row in the Casa I'm finding that about 5 days is plenty then I want a real kitchen and some TV. Now with a real refrigerator, bigger cabinets, solar, a Jackery and filtered water those 5 days will be much more comfortable for even longer trips. Some people are living full time in small rigs like a Prius or Outback, compared to them the Casa is the Dodge Mahal!
Anyone with a modicum of skills, an 8' bed and a tall canopy can build a comfortable module for 10's of thousands of dollars less than a turn-key unit and enjoy how compact and easy to drive it is. There are hundreds of examples of various builds on YouTube, some very good, many horrible, that demonstrate what to do as well as what not to do. I would encourage building your own but as more of a hobby than something that has to be done in a month. Deadlines incur short cuts which are rarely satisfying.