Ideal would be a two way connection to the grid so every EV would act as an energy buffer for the grid. Tesla knows this but wants to sell this concept as a separate product (Powerwall), so there is no hope Tesla will implement it in their cars. They also don't want you to get free energy from Superchargers and then power your home with it.
For DIY home use I think going into the 12 Volt system is the cleanest and safest. It also requires no artificial camper mode. If there was a simple way to connect to the high voltage system, I would prefer that. It's just too much trouble and much more expensive.