Maybe consider shorter distances or longer duration trips (ie: 2 weeks instead of 1 week and you break up the drive into 2-3 days of travel instead of 1 day).
After 4-5 hours, I'm ready to be done driving (towing or not).
I don't know how kids can handle long car trips in todays world. I remember all of us kids sprawled all over the van while traveling. I couldn't imagine being strapped down for several hours as a kid.
If you are just crashing for the night, lots of folks stop in a walmart or truck stop. As long as you make sure there is nothing in the way, it takes 15 seconds to put our slide out. Generally, putting the awing out and having a BBQ in the parking lot is discouraged but opening the slide shouldn't draw much attention. With kids, this is probably less desirable as they will want to run around and play after a day stuck in the truck and a parking lot isn't the best option for that.
Regardless of RV type, do check on the ability to get to the beds, bathroom and fridge with the slides closed. There may be a situation where you can't or don't want to open the slides and it's nice to have the basics still accessable.
A MH doesn't really solve much as the kids are legally still required to be strapped in while the vehicle is in motion and they also have slides that reduce the available space when closed.