I looked for over two years and I wanted pretty much what you want. Same experience as most. Used ones were trashy, needed a lot of work and too expensive and new ones were WAY too expensive for my first RV investment.
Enter the rental purchase option. Some options include El Monte, Road Bear, and Cruise America. I had an amazing experience buying used from Cruise America. At first I thought it was a STUPID idea until I went and looked. Paid under 20K for a 2008 with 124k miles on it. Sure, tons of miles but open up the engine and practically every part is new including brakes, tires, tranny, belts and more because they have to replace those things frequently. They also refurbish them with new paint, bedding, and more. Look at a bunch of them and you will find a gem. The downside is a lot of miles but the upside is a lot of new parts inside and out and constant care from RV professionals who don't want to be sued by renters. The best part of the experience was they let me hang out for 8 hours with my check list and a friend who knows about these things looking for issues and they gladly addressed 42 items on my list I wanted fixed or replaced in the unit I picked. That is what really sold me on them.
This isn't an ideal option for many but I think it is worth a look if your budget is close to 20k and you are mostly a weekend user like me looking to get into something for about 5 years without having a 15 year mortgage. Sure, you may find that golden nugget that Gramma doesn't want anymore but I looked and didn't find it so I got tired of looking and now I am having fun with my family.
Good luck with your search and remember, these are good problems to have! ;)
