We went from an outback campers "Tanami" rear fold soft floor full off road camper trailer to a "New Age" Little Joey . The Tanami is an absolutely brilliant design and built well, it took about 15 minutes to setup on level ground for an overnighter and about 30 minutes to pack up, and you could take it anywhere.
The Little Joey is like night and day for us, I get out of the car and walk towards the back of the van (rear door) on the way past I turn on the gas, at the back of the van I drop the step down, drop down 2 stabilzer legs, open the back door and we're in, that's it 5 minutes.
Weight difference is about 600 kg's, fuel consumption @ 90k/h has increased by about 1 klm/L. Last year we took this van up the Oodnadatta Track, lots of other gravel roads including the Cape Leveque road. The only damage that was done was the fridge door fell off and was repaired under warranty .
The convenience of the van over the camper for us is over whelming, yes there are places we can't take the van, but hey, all of life is a compromise .
On our travels we saw a few "Penguins " and their set up/pack up seemed to be about the same as our camper was.
Not quite what your after but this is our experience.
We went from a soft floor off road CT to a OB Expanda.
Pro's
Great being off the ground
More comfort in inclement weather
Good to have everything within easy reach in cupboards and not fishing through tubs.
More water carrying capacity
Fixed solar
Con's
Heavier to tow
Carry more stuff
Restricts places we can go
The only thing I cook inside is toast under the grill or rice/pasta on the cooktop otherwise anything in a frypan is on a butane stove outside or on a fire.
The weight difference between a Penguin and a FF won't be as much as ours. Also both are off the ground probably a bit more storage, more water and room in the Penguin. You could set up solar on the roof for a set and forget system. Saves the hassle of setting up a solar panel as well as security of the panel.
A benefit of both your choices is being able to set up on your own footprint. This is a bonus when doing an overnighter in a roadside truck stop or the like on your way to or from your destination.
I am sure some others will be able to chime in with their experiences and opinions.
I'd agree with MDS, he's on the money
cheers Keith