Experimenting with the though of a Class A...

I've had 5th wheels and travel trailers and I don't believe there's a better way for a family to travel than in a MH. There are several great MH out there that could fit your needs. I would look at some of the older high quality rigs that have been used on a regular basis. Don't go for low mileage because lack of use is a cancer to a diesel. Also since you have some young one traveling with you, I would suggest a dinette instead of a free standing table. That way the young ones can safely sit at the table while on the road.

I wish you miles of safe travels and happiness