It sounds to me like you need a custom built FW.
My better half and I are retired and strongly considering going full time RV. I currently have a 2014 Fusion Impact toyhauler, 39 ft with a 12 ft garage. It has a queen bed that lets down from the ceiling and we have used it for guests. It also has a 1/2 bath off of the garage.
Everything in an RV is a compromise. The 1/2 bath takes room from the kitchen. Since you can't really shrink the kitchen, we have lost room from the living area - which the kitchen is a part of. We can really only seat three people in our living area and the dinning area is in the garage (fold down sears). This is OK for the two of us. But if we have company, someone (me) must sit on the stairs to the bedroom. We lived in the toyhauler for six months this spring and summer. We did well - and are still married! :). But having guests was a chore.
If we full time, I think I will buy an FW with a rear living area and a bath and a half. If we do that, my wife will have to tow a trailer with our motorcycles. That will mean having to operate two vehicles every time we move. But we would gain the living space of an apartment that way and still have our toys.