Flexible floorplan for soon to be empty nesters

Have you looked at mid BH offered by many mfr's? Have the rear LR yet still have a room for the kids if they want to come along. Most of these set-ups have a loft above them for add'l sleeping---but it's tight. Could use this area for storage of things and the BH as well or an office/computer room when just the 2 of you.