If you only have to house two people, the Honda Element would probably be the most reliable option while also being decent on gas. If you removed the rear seats of the Element, you would have a big box, which is perfect for camping and the roof is perfect for a tent.
I've found some tours of people touring their Element camper conversions. Seems like a lot of fun.
https://www.youtube.com/watch?v=H1j9HWEXQcA
https://www.youtube.com/watch?v=hJAoz99de2k
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