Depends on what you can carry over from tent-camping in the way of gear, but if it's any help to someone budgeting $20k, our new off-road started at $12k delivered, but by the time we reconfigured the towing vehicle, bought and had fitted 4 AGM batteries, got the fridge, the solar power, the lighting, the extra water capacity, the furniture, rego, insurance, the remote-camping firstaid kit, the solar device chargers, folding dunny, yatta yatta yatta (still need blankets and gas bottles) we weren't too far off your $20k budget.
And that doesn't include either the chandelier or the billiard table for the tent's mezzanine floor.....