We have the same problem. getting older is not for wimps!
We have been on the road for about 20 years mostly in class A rigs. Our last one was a 40 ft American Eagle but we started having some health problem and decided to try apartment living for a while to get well.
We got well and didn't enjoy apartment living and if we wanted to go on a trip we had to use motels and restaurants.
We now have a 2006 22 ft Trek and are enjoying the 20+MPG at the speed limit.
The bathroom is small...... we still try to stay at campgrounds so we can use their toilet facility. Sleeping in the Trek is very comfortable. My wife does the cooking and is enjoying our new life style.