The DW, myself, and our small dog boondock and explore some (we're rockhounds) in our 24 foot Itasca Class C. It's small enough to have been built on the Ford E350 chassis (a "ton" chassis) but we shopped for and bought it, instead, on the optional Ford E450 chassis for extra ruggedness in overall chassis frame strength and brake swept areas, as well as getting better slow speed crawling with it's 4.56:1 rear differential ratio. It does not have a slide as we did not want the added weight, unreliability, and coach wall reduced shear strength that one gets from a slide.
The fuel tank is 55 gallons, the black tank is 39 gallons, the grey tank is 29 gallons, the propane tank is 18 gallons, and the fresh water tank plus hot water heater carry 45 gallons of water. It has great ground clearance - about the same as any non-lifted pickup truck. The coach structure behind the rear axle sweeps up to provide an improved departure angle on off-road dips and humps. It's coach side walls, it's coach entrance steps in their retracted position, it's propane tank, it's under-coach tank drain plumbing, it's fuel tank, and it's spare tire are all mounted up high at, or near, frame height. I installed larger than stock diameter tires on it for even more ground clearance.
We intentionally don't have solar but the roof is large enough for plenty of it. We like the independence from weather conditions we get by being able to charge our batteries anywhere anytime by using the main V10 engine's 130 amp alternator, or the built-in 4000 water gasoline generator, or the small Honda portable generator we carry along. It's easy to keep cool or heat because of it's relatively small coach interior volume.
We feel pretty much at home in it at shopping malls or out in the middle of nowhere. We have boondock camped with it off a 4X4 road in Death Valley and explored with it as far out in the Utah wilderness as Dubinky Well.
Some Class C rigs similar to ours can be found with an after market 4X4 front end under their Ford chassis, for even more off-road independence. Just the right short, non-slide Class C can make a pretty good boondocking rig. You just have to travel slow and careful off-road - especially in mud or soft sand.
For example - a Phoenix Cruiser 2100 motorhome ordered with four wheel drive, ordered without a slide, and with non-stock taller tires installed should be an outstanding off-road boondocking rig that also provides plenty of comfort when you get there.