Clearance-wise I don't know there is much difference between a Scamp or Bigfoot
fifth wheel in stock form. However, many Scamps are sold
with a factory lift to accommodate taller trucks, and many Bigfoots are raised by their owners for the same reason.
Neither is designed as an off-road unit, but either could get to most places a reasonable person might want to take a trailer. Garden-variety RV's don't take well to getting beat up on back roads, but the nice thing about a towable is you can park it someplace accessible and explore in your tow vehicle.
Scamp and Bigfoot
are very different trailers, each with its own set of advantages and disadvantages for off-highway use. The Scamp is narrow (6'8") and lightweight. The Bigfoot is sturdier and roomier but heavier and wider (8').
I figure once you look at both, you'll know what works best for you. Bigfoot fifth wheels have been out of production for a long time, so they're harder to find. If that's what you decide, be ready to jump on it.