That was my mission a couple of months ago.. find decent full offroad camper under $10,000 and after much research decided that the best way to go was to be patient and look for a 2nd hand aussie built with aussie canvas. I ended up with an Outback Birdsville for $7000 in excellent hardly used condition. It needed a few things like brakes and 12v electrics but these were easy added within the $10k budget.
Looking at new, there are a few aussie built for under $10k but they are basic, so you can start with bare trailer/tent and add extras as you can afford. My camper brand new is about $9000 for basic trailer/tent. Customline are about the same and top quality.
If you are prepared to settle for imported then there is plenty out there. Brands I considered were GIC, Blue Tongue, Austrack, Oztrail, Skamper. These have some level of Australian built content, mostly in the trailer and with imported canvas but they do give you plenty of extras within the $10k budget, such as kitchen, water tank, annex, etc. I'd steer clear of chinese imports myself. Many people are happy with them but if you are thinking of outback or serious offroad use you really want something tough that you can trust is well built from quality materials. Good luck!