Welcome to the forum Lalizzie!
If a Prius had good ground clearance, I'd never get a different vehicle for "vandwelling." As it is, I've taken my Prius on some rocky, rutted back roads where no Prius should go ... Just because I love getting out in nature. I personally find my Prius big enough. I know others would find it too small. You've just got to decide for yourself how much space you need.
At 225K+ miles, my '04 Prius has been remarkably trouble free. Recent diagnostics show that all of my high-voltage batteries are in good condition. However, since January, some small non-critical problems have started happening. I figure that it's only a matter of time and more washboard roads that something serious breaks that grounds me. So, I'm starting to consider a replacement vehicle with much higher ground clearance.
I'd suggest that you take some test runs in your Prius to see if it's a good fit for you. It's a good life out here!
Enjoy the planning process!
Suanne