We bought with state parks & NFS parks in mind. We also started with the 32' limit. We also intended to make our first trailer our last trailer. We have done that though the 32 went to a 34, by model number.
Almost 8 years, more than 130,000 miles, over 1000 nights, hundreds of different CGs later, we are still very happy with our Alpenlite 34RLR. It happens to meet all of the criteria of the OP, except for the usability of the table with slide in. Even that could work with the slide only partially out.
At just under 36'LOA the only problem with state parks has been finding class Bs or class Cs in the few over 30' sites. Anywhere that max length has been listed at 30' we have gotten in, usually by having the back of the trailer hang out past the pad.
Getting into tight sites with large trailers is about good spotter guidence & yes, some driver skill.