Ijuin,
I believe your assessment is correct about a basic Orion. I do see some modified versions for specific needs but for anything like long duration, asteroid rendezvous, or Mars, I see a hab module or a combination hab-propulsion module being used and Orion just for landing.
If I can use your great analogy about using a pickup to go to work... I see Orion like a small car going to work. When I drive, I see people with RVs driving across the country and they normally have a small car or small truck in tow. When people in RVs arrive at their destinations, they normally do not explore the town with the RV, it is too big to maneuver, they park the RV at a campground and explore the park or town with the towed car.
SM