Effy, I have an 05/04 Roadtrek 190P which is an extended bed Chevrolet Express Van.
When I visualize that space with Nothing in it, I don't think that there is any configuration, floorplan that would be satisfactory for 3 adults, for me. Maybe on a limited basis, but then I would be stuck with what I would not want for myself or 2 folks.
Additionally, this topic of HOA comes up regularly over the years. If you can not have an 'RV' parked in your drive, it only takes one complaint. It is either an RV or not. B's are an RV. Unless you 'know' that there will not be a problem with a B vs a C or C-, there is a risk you probably need to factor in.
Hope you are able to sort it out.
Bud