I'm by no means an expert but here are some thoughts:
You want to mount the cabin on a torsion free subframe. My english is not so good but I try to explain. This is sort of a hinged support for your cabin that allows the chassis to move independently from the cabin (or what ever bed you might have).
For example in my Unimog the bed / cabin is hinged from the front and rear and rigidly attached from the sides at the center. When the rigid attachment points move up and down with the suspension the bed tilts from side to side around the hinges. I hope you get the idea.
As for suitable trucks a few pop to my mind.
Fiat / Iveco ACL 75 and ACM 80 and 90
These, I believe, are equipped with portal axles which gives lots of ground clearance, but also usually makes the truck a bit slow.
Magirus Deutz 168M11 FAL and M 232 FAE and 110-16
Don't know anything about these, but they look good to me. Maybe a bit on the big side?
Steyr 12M18 4x4 looks capable. How easy it is to get parts for these around the world I don't know.
WV / MAN 8.136 FAE
Not sure if these are big enough for 5m cabin.
Long wheelbase Unimogs. 1300/L37 or something similar if you want to have a 5m long cabin.
MAN makes good ones aswell. Can't remember the models though. Very popular for OEM overland camper companies.
Personally I would choose something from a manufacturer who has well stocked service agents in those parts of the globe that you plan to visit. My choice is Mercedes in the form of an Unimog.
Now that I look at the list above they all seem to be quite off-road oriented so there might be better choices for you. I hope this gets you started anyway.
Edit:
Choosing an Overland Campervan. this is a good read about the subject.