First for your height - if your luck is anything like mine, it'll be exactly 2 inches too tall to fit into your garage
and 1,000 lbs too heavy to be towed with your current TV!
Seriously - no idea on the height.
As for camping in a pop-up, we did for 10 years. It was great fun and really got us to a lot of fun/interesting places. Definitely recommend as a starting point (and for some it is an ending point too), but be prepared for the upgrade bug. A "real" bathroom, easier setup/teardown, etc will start to weigh on your mind. Only you can decide if making the jump from PUP to hard-walled camper is for you.
(That jump, IMHO, is just as large as the tent to PUP jump!)
Brian, Stacy, and the girls (8 and 5)
2011 F-250 CCSB 6.7L PSD 4WD
2013 Solaire 269BHDSK