Budget of $20K, can I suggest looking at a second hand Kimberly Kamper, quality Aus. build and will go anywhere you
think you can tow it, the independent suspension will tow better over corrugations etc than most tow cars.
KK - Hard floor, takes minutes to open out, double bed remains made, rock solid stainless steel kitchen, elec water pump to sink, under bed roll out accessible stainless storage, gas cooker etc. A lot of design innovation went into them and to my mind most of the current hard floors have borrowed from the KK design. Awning takes a little time to erect but is huge and covers kitchen/cooking area plus heaps of other space, we put it up if staying more than one night.
We had a soft floor initially, leaf springs, kitchen, nothing was set up as well as the KK, it was much cheaper but just not in the race.
Re KK, our 2002 is fairly heavy on the tow ball weight, never measured it but I know it is from other trailers we own. It cost us round $19K three years ago, spent another grand or so to get another spare rim and 4 new tyres. Nothing has gone wrong with it in our ownership, except SWMBO is now keen for a C*R***N (blush
)
Shop around, look underneath, chat to sellers, don't buy the one that the owner says will go thru' a metre plus of water and needs the disc brakes overhauled
We looked at a CUB, the model we looked at just didn't have IT for our expectations of quality build. Not saying they are all like that, just the one we looked at.
Some other owners YMMV
Edit - Re canvas mentioned earlier, totally agree, KK canvas/zips, fly screens etc are extremely well make and no water gets in, the canvas is indeed top quality and "waterproof".