Hi.
A class B is your best answer. Roadtrek makes a Versitile model in both a 20 foot and an 18 foot. (20 foots are no longer being made) called 170 and 190V. The 190 has two back seats so can ride four people in comfort. The HOA problem is one you have to address before buying a moble home. I ran into the HOA problem and trying to work something out. My reason for moving into was my wife's problems. Some moble home parks have an area to store RVs. If you can buy a home near the storage area, it will work. Do your homework and get it in writing. Good luck.
Heapie