You might consider one of these. They are spendy, but offer the benefits of a popup style - low towing height, lighter weight - with several of the the benefits of a conventional travel trailer. Similar, but maybe shorter, setup time to a tent style popup, but not nearly as quick as an A frame. They are completely hard-sided.
See trailmanor.com for models and weights. Their claim is that they can be pulled behind a minivan.