I did the out of my truck camping for a while. Carried everything in the bed and second seat. I bought a used cargo trailer to house all my gear and atv. I was doing it every weekend for about three to four months a year and got tired of loading and unloading every four days. I could have slept in the trailer but found bringing a tent was better for me. I was saving up for a toy hauler but ended up with a lease and a cabin.
If I ever went back to camping in different locations I would anti up for a toy hauler. I would want to be able to drive the truck with having to break down camp every time we had to run to town. I looked at trying to be self contained in just a truck and I couldnt get my head around a satisfactory setup. Hopefully you will find a great setup that works for your needs.