Rule #1 - There is no perfect setup for all trips.
I know you want to be able to do everything you'd do if on a weekend trip, but if you are taking the family in a D1 there has to be some compromise - particularly if you're traveling as a solo vehicle.
The easiest path to a successful self recovery is avoid getting yourself in a position that you need to recover from for a start!!
I love my rooftop tent, and have been all over the place with it on the County. Absolutely awesome when you're moving each day, and as you say - up off the ground etc. Its just my wife and I though, and the basic RTT literally takes 1min to set up, and about 2 to pack up (without having the extra awning).
Not all rooftop tents are the same though, and when we did a couple of months touring in southern Africa a few years ago we hired Defenders out of Joberg with RTT. They took about 20mins to pack up, and I had many mornings heading out game driving before dawn packing them up with frozen fingers where I wished I had the county with my own simple RTT on it!
I've had a D1, and personally wouldn't like to have a decent RTT on it. My approach in your situation would be to put the RTT on a raised rack on a small capable trailer. Keeps the weight off the vehicle, and if you want to go exploring during the day just leave the trailer/tent back at camp.
Yes, it does mean that you need to think about where you go with the trailer, and some trips just wouldn't work with that setup.
It would allow you to take a few extra bulky but light comforts for the family, and if you need to go for a short drive and get some firewood etc you can leave them at camp and throw it on your empty roofrack!
On another note - a TPMS system is much lighter than a second spare. If you run decent tyres at the right pressure and get alerted if you have a puncture - very unlikely you will ever need to use your first spare, let alone a second. The times I've seen people get into trouble with tyres is either running old ones that break down under load, or having a tyre go flat without noticing until its completely stuffed.
Biggest thing - don't overthink it. Just get out there and do it!!
Edit: I see that Simo already beat me to a couple of points - but I already had it typed up 
Steve
1985 County - Isuzu 4bd1 with HX30W turbo, LT95, 255/85-16 KM2's
1988 120 with rust and potential
1999 300tdi 130 single cab - "stock as bro"
2003 D2a Td5 - the boss's daily drive
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