Fulltiming in a Class C

We wish we could go smaller! Sounds good but realistic I'm not sure! When we pass somthing unsuspected we would love to pull over but can't, not enough space. A lot of people tell us just camp somewhere near and go visit but alot of times nothing else around to see and no camping for an hour or so. We have only been fulltime traveling since Feb.2 2019 so still trying to figure everything out. And yes we have been married for 43 yrs and have camped our whole married life but trust me to those out there that think just because u have camped for years doesn't make u know all the ins and outside of fulltime. We love this lifestyle!!!! Thanks to everyone who has responded!??