Another possibility is having a pop-top installed on a regular, low-roofed van, whether 4x4, AWD, or 2wd. There are a couple of companies here in the US which do this, and an upper convertible bed is usually included but can be left out if desired. You don't need the headroom when you're driving; you need it when you're stopped, maybe cooking dinner, setting up bedding, or searching madly for stuff you're sure you packed...somewhere.
One reason I won't be getting a Sprinter-equivalent (aside from the astronomical price); they don't fit in a standard garage with a 7 foot height door. Sadly, neither will a full-sized van with a pop-top added. Can't use commercial parking garages or restaurant drive-throughs either. A mini-van with pop-top will fit, but is limited in other ways, especially for family camping. All of this might apply to whatever is available in Europe, or not.
Hope that's helpful.
Mark
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