It depends on your expectations. A Class B drives like a full-size van. Not the same as a motorhome, not the same as a smaller car.
I have a full-size van (18-foot) as my travel vehicle and I sometimes drive it around town. My usual around town vehicle (and towed behind my C) is a super-mini MPV (Honda Fit). I can drive the van, but it is sometimes a pain to find a place to park, same as for a large minivan or full-size SUV. While the Fit is easy to park anywhere and a real hoot to drive (manual transmission and decent power weight like a '60s sport sedan).
I live in a small city in a rural area (cattle and horse ranching) where almost a third of the daily drivers are large pickups and SUVs, and parking spots are sized accordingly. This environment makes the van (or B RV) usable, if a bit difficult If I lived in a major urban area, I would do a whole lot better in the smaller car. When I visit places like Detroit or Chicago, the full size van is a major PITA for parking and getting around in neighborhood streets, even though it is not even the long van.
The B drives like any other van, but for getting around, it is still a van. Know your neighborhood, know your limits. There are places where I would not drive anything larger than a compact car or truck, and there are places where I simple would not own a car, There are other places where a 22-24 foot van is fine as a daily driver. Know your places.