This year we got an Itasca Navion 24G (made by/same layout as Winnebago View) with two slides for the living room and rear queen bed. Works for two adults + 70-lb Lab. Just under 26 feet. We don't tow. Will rent a car now and then as needed but not often.
Downside of the rear queen slide out is you have to fold the top third of the mattress in when retracting the slide, so bedding has to be rearranged often. Not much "walk around" room.
Lots of small C floor plans to choose from. Look at Phoenix Cruiser, Leisure Travel Vans, Couch House Platinum to name a few.
