I've tried many different types of camping over my 18 years, and have concluded that this (or a vanagon):
(not my car/tent/picture)
is the answer. The best part of an RV (a real mattress up off the ground that is easy to deploy), all the best parts of camping (cooking outside, going new places, living in a minimalist way), and none of the storage or maintenance issues associated with RVs.
Plus, in a modern RV you're limited to fairly built-up campgrounds, which are usually just mobile home parks with slightly-more-mobile homes. Cheap RVs are a lot more like a smelly hotel room you have to assemble yourself than they are a fabulous wilderness escape. Expensive RVs are just like home and you'll rarely go outside, so why not just stay home.
IMHO, if you like camping for the nature and freedom and fires and smells and critters, then you'll like tents or a small camper like a vanagon. If you like it because it's different than home, stay at a nice resort and pocket the RV money.
I think an RV's true place isn't as a weekend getaway machine, but as a semi-permanent home to see the world in. My grandparents would spend 6 months every year traveling the country in their RV, and it was perfect for that.
If you couldn't tell by now, I'm not a huge fan of RVs. They require full-time maintenance, attention, love, and dollars in order to stay running. If you'd like to simulate this process at home, buy a cheap garden shed, overload it with cheap house fixtures/furniture/stuff, mount it on a Cavalier chassis, then autocross. It's bad for the shed and bad for the Cavalier.