Whenever we leave home with our RV, we consider it as a bit of an expedition for which we should be fully provisioned. As such, we try to leave home with all tanks full that should be full and all tanks empty that should be empty - plus plenty of food on board for several days - plus all manner of clothing, tools, and equipment to deal with a variety of expected and unexpected situations.
This requires a Class C based on a solid truck chassis engineered for plenty of extra weight carrying capacity over and above the coach itself. We shopped for about a year until we found just the right small Class C on an overkill 4-series chassis, instead of the usual 3-series chassis. So far even 12 years after we bought ours, this would be difficult to achieve unless a Ford E450 or Chevy 4500 chassis is under a new small Class C. As far as I can tell, the new Sprinter chassis and various other modern small cutaway van chassis types commonly available today in the U.S. still would not provide the weight rating overhead we would feel comfortable with for optimum safety, reliability, and drivability under all conditions.