For a more adventurous trailer, I strongly suggest one looks at the adventure trailer category. We had a 35-foot tow-behind then a Class A RV before realizing those weren’t what we needed.
Instead we went the adventure trailer route and picked up a one-year old Turtleback Trailers Expedition model a couple of years ago. Absolutely zero regrets. Chock full of amenities (twin deep-cell batteries with solar charger, 42-gallon water tank over the axle, hot water heater, propane stove, etc.). More importantly, it tracks perfectly behind the Jeep and goes wherever it goes.