Have you considered a tent trailer? I have a 12' tent trailer with one slide out. When I open it up it's 24' long. Your Jeep would pull it no problem. The nice thing about a tent trailer is the beds are huge and comfy and you never feel cramped in them. They're also easy to pull and store. You can't camp in the winter in them, but that doesn't really matter for you (probably) since you have a baby anyway.
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