Jay Leno did an excellent column about how amazing fire trucks are in terms of durability.
The OP said that "fire trucks" weren't designed to drive on the highway at highway speeds, which is a bit of an over generalization. The National Forest Service for example has a number of trucks in California that are tasked with driving up and down the state to fight wild fires. They not only drive on the highway, they end up with a couple million miles on them before they are retired.
In terms of practicality (there isn't much :-) but a ladder truck has the ability to put you fairly high up somewhat "away" from the truck. (although an inexperienced operator could easily tip over their truck if they weren't careful) and they have those pretty awesome hydraulic stabilizing legs. I sketched out briefly a sort of 'circus tent' RV where the tenting was connected to a ladder truck's ladder which could then extend up and allow you to stake out a tent around it. A number of issues there, from the outgassing of the truck into your tent :-) and the ladder has a specified end load that it can move around which is often less than 500 lbs so you end can't really hoist canvas, you would get away with light nylon at best.
But in terms of interesting vehicles to own I agree with the author that there is a certain cachet there :-)