We were in your situation with a slightly different requirement, in that this had to be a daily driver for us, so the first van (a T5) won out. It was an elevating roof LWB and TBH it was too small. We ended up selling it after about 18 months (and going to a motorhome). We now have a elevating roof SWB T6 and it is still a daily driver, it is perfect for 2 but cramped with 3. Be aware that camping all year around with a canvas roof can be challenging, but we prefer it as we "wild camp" nearly all of the time and it will go under most barriers.
We both wish that we could have a high top & wider van with more facilities, but that would seriously limit us, so we compromise. If you are not going to use it often and it is going to be a pure leisure vehicle, be honest with yourselves and get a high top Crafter. 3 is difficult enough but 4 or 5 will be miserable in a T6, unless you put up an awning but to my mind if you do that, you might as well have a caravan, trailer tent, large tent etc. Factor in that if the other half is already not thrilled about "camping" you want as pleasant an experience as you can have.