I suspect a new B that will fit your family needs may very well be more expensive than your current ACE. For the most part IMO bathrooms/showers in B's just plain sux. But as a short trip, unit to migrate back and forth between two states, a B or better yet a B+ (actually a streamlined C) could work.
Mileage on the Sprinter based units are much better than gassers, maintenance costs could be higher as they are proud of those little diesels.
As far as HOA, order one in a plain brown ( Or white, blue, red...) wrapper.