If you want sleeping comfort, you need a Class C rig with a rear bedroom and RV queen sized bed. You need at least a 27 foot rig to get a rear bedroom. 27 footers are fairly easy to manuever and park in shopping malls, city parks and tourist attractions in addition to RV parks, and primitive federal and state forest campsites. A 27 footer also has less comfortable sleeping accomodations for quests in the overhead and a convertible dinette or "jacknife couch. With bad knees etc, climbing up and down a ladder for the overhead bed quickly loses it's charm.