If you want to hike 6 miles to a primitive campsite, you can do so with your tent. A variety of tents on the market may make purchasing one a tough choice. The one factor we suggest on a tent is having screen windows on more than one side, to allow breezes to blow through. This helps air out the tent, and in Florida, you'll likely want that breeze on most days. If not, you can always zip the flaps over the screens.
Campers seem to be the middle ground for many people.
Like RVs, they provide more solid shelter than tents and provide many of the comforts of home. But unlike RVs, you can't drive them, so they have to be towed. Campers are also more compact than RVs, which may be a plus to many people. New campers can be almost luxurious, but if price is a consideration, you may find a slightly used one for sale that will be just the thing for you. RVs are the only way to go for many people.