My DIY converted conversion RVan is 17'. I go to Florida alone in winter for 3 and in future 4 months and have no problem in my tiny home. Since 2012 I have traveled all over Florida looking for a "spot" to settle in. This winter I finally found it.
Like others, I have gotten rid of a lot of stuff since I started 3 years ago. My books are now on my tablet. My clothes are low volume, non wrinkle knit in 2 colors and all the same. I eat very simple fresh food so need to shop every 4 days. I have learned to put everything back in its secured position after use so I can break camp in 10 minutes. I have remote start so I can keep the AC on for my dogs while I shop for food (they eat fresh too) if needed. On those occasions when we want to become tourists I have found dogsitters, or, used campground or local transportation leaving the dogs in the RVan.
One of the bigger needs is "space" for the second person. In summer I travel with my husband and because my RVAn is so small I got him his own teardrop. I think Bs that have swivel chairs up front and the sleep area in back might provide needed separation. There are very small, lightweight screened "porches" for an outdoor room. There are headphones for noise separation. I like the challenge of figuring out workarounds. Bicycles are great for getting around too, BTW. Hitch racks can handle scooters, gas or electric powered bicycles or extra stuff.