For a total switch you might try a small teardrop trailer. They can either come equipped for off road or with some after market upgrades to do the same. One big advantage is being able to set up a base camp to go rock climbing with your Jeep and other activities. They can also double as extra storage for various toys and camping equipment while moving. I bought mine because I wanted off the ground but still a bit minimal. No ladders to climb and a full to even a king size bed inside depending on make and model.
I bought mine in 2015, a Little Guy. I found that it did not have enough clearance for places I was going so I put in a 2" lift kit and went from the 13" wheel to 15". That gave me 12" under the axle but then I blew a wheel bearing, ruining the spindle, and they could not get a new factory axle so they went the next heavier duty one which now gives me 15" under the axle. My actual trailer was the "Deluxe" model with a kitchen in the back with a sink and a stove and a queen bed. They don't make it anymore but there are many teardrops out there from bare bones to very expensive off road models. Of course there are still Little Guy trailers out there like mine but they are somewhat sought after.
I'm 78 now and wouldn't was a ladder either. I also was diagnosed with osteoporosis so my bones are a bit more prone to break. I wont let it stop me from camping, offroading, camping, kayaking and fishing though. I figure if I die doing the tings I love then I will have had a good life.
I tried one of these and it worked really well. Air mattress. All good. Only problem I had was places we tend to camp have gnats and mosquitoes and I couldn’t get a good enough seal to keep the bugs out at night. It also was a bit of a problem in anything more than light rain. The Alucab is where needful in storms and areas with bugs.Understand the ladder thing. I broke my Calcaneus (heel) when a ladder collapsed when washing the Gladiator. Took the better part of 2 years to completely heal. I am wary of ladders now....
Here's the option we ended up with. Have not used it extensively yet, but it seems cool.... it extends out over the lowered tailgate so that 6-6.5' folks can stretch out. For two, you are pretty much shoulder to shoulder inside. For now, it's OK for us.
I just put a 39 ft Class A in front of the jeep
