About to buy our first RV

I think it is a great choice. Of course that is because we love our little RV. Yours is only 6" shorter than ours at 21'6" and ours is 22'. We don't have a bed in the back but a bit bigger dinette. We take our two grandkids now 7 and 5 camping in it and will be gone for over a week this time. When they are with us we camp at state parks that have electricity so we can use the air conditioner and microwave without the generator. They bring a kids suitcase full of toys each and we store them under the dinette. We have an overhead cabinet full of DVD's and a 12 volt tv with a portable DVD player for travel. They use the plastic drawers in our closet and we use duffle bags in the loft for clothes. We hang raincoats and jackets in the closet--pipe insulation over the bar will hold hangers while moving. I put an extra closet bar in our shower for wet clothes. We use the shower for toys sometimes too (sand toys this trip) and have an inexpensive Harbor Freight bike rack in back. Sometimes I use an aluminum cargo carrier also from Harbor Freight and an oversized plastic truck for extra outdoor storage space--for the little gas grill and firewood.
There are plenty of cubby spaces for stuff in a small RV and you will have some good storage area under that bed. Probably more area than you have weight capacity to carry. Don't worry about selling a smaller RV. I find the prices for older ones are similar to the larger ones because they are harder to find but do fit many people's needs. Camping is so easy with an RV and campgrounds are still very friendly spaces for kids. I predict you will love it.