Class A (or C) vs Toyhauler

Never had a 5th, but a couple Class A's and had them where most would shake their heads, but I love to boondock. I ended up with class A mainly because I like to tow my Jeep Wrangler or trailer my rock buggy. Something I could not do with a 5vr. I also have a couple of ATV's and trailer them as well. It works out ok, but I do miss having a vehicle. Maybe its to drive to town for more gas/food or what ever reason it may be. Not convenient with a Class A. In your case I could see a toyhauler being a better choice, that is if you are using your Atv's a lot.

I take two ATVs and a small PU with me but one is a side by side that is almost 7' tall. Instead of building a normal four post stacker trailer I came up with this so it's not higher than my MH. With the PU I'm able to move the trailer around when in a normal CG without pull through sites.
I want to keep under the 65' max in many states so need to keep the trailer fairly short. The winch on the ATV is used to pivot the rack to the travel position.

I plan for 3 ATVs, but 4 is a possibility, tight in a 12' garage but doable, plenty of room in a utility trailer...

The big thing keeping me away from the motorized haulers is the main bed. I do not want to be crawling around on hands and knees (rear loft) or up and down a ladder (over the cab). I want a real bed! That said, the over-cab bed would be fine for one of my boys.

Need to know how many and what kind of ATVs? Yes I take mine with me.

Several years ago the Safari Simba toy hauler had the garage in the back that included a 3000 pound hydraulic lift to load your toys. It had a queen bed in the front of the coach and double queen beds that lowered out of the ceiling in the garage portion. You could also order it with four captains chairs for your passengers. It was a diesel powered coach but it also had a gasoline tank so that you could refuel your toys. I believe the length was 38 feet.

I have no interest in a motorized toyhauler for the reasons you mentioned.

The last motorhome toy haulers I saw were at the Phila.RV show last week. The trailers were conventional toy haulers (nothing special) until you got into the triple axle 10,000+ pound versions where the ramp doubles as a patio. VERY nice for 60 grand...and you will need a $50,000 truck to pull it with.
The toy hauling motorhomes...not many but IMO they were OK. However, off to one side was an exibit of $370,000 Freightliner-based Class C toyhaulers. Very nice from the outside...but the inside...especially the bedroom...you better know where the extremely narrow stairs are, (leading up/down to the bed) or you're going to fall 4 steps and hurt yourself. Big time. Also the entry door SEEMED narrow and the entry steps too steep. IMO, those areas very poorly designed. The rest of the unit was very nice. And for 370 thou, it better be.
Looking at toy haulers for quite a few years, I think the biggest bang for the buck would be the 5th wheels.
g'luck!