Toileting isn't a difficult problem to solve. The best solution depends on your priorities.
Portable camping toilets are compact, inexpensive, and no/low odor when properly maintained. The downside is the hassle associated with emptying it, which depending on usage, may be frequent. I've been happy with my experience using the Thetford Curve. I dump it into my residential toilet. I would not be comfortable carrying it into establishments and emptying it in public bathrooms.
Bucket toilets, can be basic DIY or factory made (falsely labeled composting toilets) run the gamut from $12 to $1200. I have a DIY bucket toilet contained in a purpose built wood ottoman. Everything goes into the garbage bag lined bucket, no separation. Urine can sit for days (depending on temperature) before it starts to smell. Poop, in a freshly made bucket can still be stinky even without urine. The amount of time poop stays in my van is measured in minutes not days. Trash containers are plentiful in my surroundings so it's not inconvenient for me to empty it. I switched from using pellets to using powder, because it creates a more compact package. Any odors are dealt with promptly, I have zero tolerance. I also like that bucket toilets can be quickly and easily cleaned.
A more refined option would be the Wrappon Trekker. It is essentially a poop/pee in a bag toilet. It seals the "deposit" in an odorless plastic bag that can be stored until disposal is convenient. With a price of $1600 it is costly to buy and use, about $1 per flush. But if frequenting areas where pack it out or leave no trace are important tenets, then this is a nice, sophisticated solution.