We did it. Our fiver wasn't as big as yours (24 ft) but about two years ago we sold it and bought a very small class b camper van. I'm not gonna lie -- it took some adjustment. We had to learn to pack more thoughtfully. We love it though. We take it everywhere -- camping, shopping, visiting friends and relatives, even took it to the drive-in movies a few weeks ago.
Coincidentally, we were recently pondering a truck camper for dry camping, so I'm curious about your complicated loading/unloading comment. Love to hear your thoughts.