My DH has contacts within Jayco, and they said that their 'off road' campers really aren't meant for that kind of real offloading, and after taking our off road Mountain Trail Camper along some of the toughest tracks in Oz including the Kimberley, Cape York and Outback NSW/SA?QLD, I can't say I'd risk it with a trailer that's not built to handle those conditions.
The soft floor off road campers with more space really don't take that long to set up, but if you're after a camper with beds ready to go, have you considered a secondhand Camprite Camper? (new ones are pretty pricey I think?)
When you fold open the camper, there's a double bed plus two singles ready to go, and the singles can convert to two bunks sleeping four. There's just not a lot of extra room to move around inside, but it probably comes with an annexe if needed and you are up off the ground and can set up on any kind of terrain.
It sounds like a fantastic trip. Good luck with your decision.
Karen