We have traveled for many years in many types of RV's,tents,popups,boats ect. We like the back country. For us a larger RV means not being able to go to 85 percent of the places we enjoy. Been the same problem for the last 40+ years. So we have worked on how to make a smaller RV work for us.
Making a bed. We use a fleece blanket for the bottom sheet. No need to tuck it in. Just put it down and it stays put. Blanket, we use a light weight backpacking sleeping bag as a comforter. You get cold zip it up. We store them in a laundry bag. Do not fold, or roll, just stuff it in with the fleece blanket on top and put in storage. Shower after a dry down with a towel works fine if you have no place else. Complete bed make or take apart, takes 2 min or less.
Our sleeping areas. Wife sleeps on the dinette. I have replaced the foam with an upscale foam to her liking. She sleeps there with comfort. The couch is redone for my comfort. Complete rebuild with extra springs to firm it up so very comfortable for me.
Drivers and passengers seats recline. We made sure there was nothing behind them to stop them. We use them as recliners. I do have kits so they can be turned to the rear area but we like them the way they are so kits still in the garage.
Any thing we do not use most every trip we do not haul. We do not tow. And put awning ect up after using each time. Have been thru many middle of the night high wind storms. Easier to just roll it up in the evening. We hook up sewer hose only when we dump. And put it back so unhooking to make a quick trip takes 3 or 4 min.
A small rig with a full bed never gives you the one big thing you need.. Places to set in comfort. A full bed for us is a waste of space and its really not comfortable to set on. If in a corner its a pain to get into or make and who likes to climb over some one to get up at night.
If you want to use a small rig with comfort you need to figure out a way to make every thing simple for you. It just takes a some thought and time. Or just forget about thinking and buy a bigger rig so it can be just like home.