[TSOJOURNER]

There is a boat called the SIREN which would be ideal for you. It weighs about 700 lbs total, so you could easily pull it with your car, the tongue weight is negligible. It has a huge cockpit that is really comfortable for four adults and a cuddy that you could overnight in if you wanted to. Check out the owner's site and you can see some amazing mods that owners have done.

sirenowners : Siren Owners