$5,000 · WANTED: Motorhome or 1/2 Ton Camper

I am an avid camper who loves to get out into the wild almost every week. Right now I've just been using a Ford Transit Connect which I have entirely outgrown and am looking to step up in size. Preferably I'd like a 20ft motorhome so I can park anywhere, but I would go up to 23ft, another option is to a camper that will fit on a 98 z71 GMC 1500. My budget is about $5000 right now but it will raise as times goes by. I'm not too picky about the interior needing work, even some leaks is ok if fixable. most importantly is that the engine, chassis, brakes, etc. will not leave me stranded. Thanks for looking!