If you either buy one already designed for "off road" or flip the springs on the axle, they have a good amount of clearance depending on length and tire size (which can also be increased.) Very few are designed to take a lot of abuse, so be aware that rough roads will affect longevity. Also they are not all designed the same, so be aware of the lift system. Some are much easier to operate than others.
My wife gave up on tents very early in our marriage, and a pop up camper is a HUGE improvement over any tent, most notably in bed comfort and having a furnace (the biggest suck on your battery though.) Other than that, I liked having simple popups and stayed away from ones with bathrooms/showers or even fridges. Because they don't have upper cabinets, they actually feel way more spacious than most hard-sided campers and when you open up the windows, it's like one big screen house. Gear is easily handled as it can be put on the bunks during the day and on whatever bench set up you have at night. For getting up off the ground and having heat, there is very little to rival it if you want to get away from the crowd.
That said, we've moved on to hard-sided campers as the wife wants a bathroom and prefers the hard walls. I don't mind the minimal set up, but even with a very short one that is lifted, it won't go where a pop up will.