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Trailers might have some advantages, but I still believe a small motorhome might not turn into an exercise of gross excess all-year round. Assuming that you could get a pop-up roof to keep the overall height contained while driving, it would already decrease the overall drag. When it comes to interior arrangements, you could eventually attempt to make it easily reconfigured from campervan to cargo (even though some structures would require a more permanent or semi-permanent fitment such as the washroom and the kitchen).
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