We have similar size on a Ford 350 chassis. Our Regency model has a Murphy bed so we have lots of room and plenty of storage. We have had it for 2 years now and still have some empty cupboards. We love the size and we were not at all interested in the Sprinter - you loose a lot of storage, price, maintenance etc were all negatives for us.
We have been on 2 three month trips + 2 trips of 9 weeks and many shorter ones. Depending on the trip we sometimes tow our car -- on short trips we often do not.
Everything always works out for us. We have had a Class A and are enjoying the versatility of our B+ more.