It looks perfect for the reasons you've given!
My motorhome is a bit longer at 24 feet, and when we take a couple of teenagers along, it feels rather cramped, but we spend most of our time outside, so we don't need a ton of inside space.
I second going through it after every trip and pulling anything that you discovered you don't need, and rearranging anything that was not working for you. I've devoted a corner in the garage for things that I only take sometimes, like the tent, portable BBQ, and EZ up awning.
You will find what works for you, and you will love every minute of it!