A comment perhaps based on my misunderstanding re "4WD Vehicle probably VW Transporter 4Motion dual cab...Cant sleep in it - requires paid accommodation ".
You can sleep in any reasonable sized 4x4 vehicle, or at least we have done so on long(ish) trips with no problems.
OP's situation is such that although 4 people can't realistically sleep in such a vehicle, 2 can, and a RTT provides for the other two. Alternatively a ground tent would work, although I suspect that a RTT will be a more attractive option.
Thought #2 - you can buy two 4x4 vehicles for the price of most "Expedition Style Trucks" so you could do this and have the advantage of a back-up vehicle (each for the other) as well as being able to sleep inside each. YOu'd need a 40 ft container and not a 20 ft container, however the marginal cost compared with a container capable or handling the truck is not much.
PS: I don't envisage Lawrence of Arabia in a truck - which brings me to the last thought - 8 camels - four to ride and four for kit...
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