How much will you be camping versus, say, hauling groceries?
How far do you intend to drive to camp? I love my Prius, but at times the seat just isn't sufficient after several hours... I don't like to drive it on thousand-mile trips.
How much are you willing to pay for fuel?
What part of the country are you in? I know people who love diesel, but in some places it can be difficult to find.
My son was wrestling with the same decision last year, and settled on a Subaru as a decent compromise... less clearance than he would sometimes like, better mileage than a full-size SUV, decent space and seats. The calculus might work out differently for you.
I frequently wish we had "transformer" automobiles... a Prius that unfolds into a Volkswagen Westphalia at night and converts into a Jeep Wrangler equipped to go off road the next morning?!?! Alas, life is not a Saturday-morning cartoon!