Looking at the full dry baths as suggested...the Winnebago 70C and the Leisure Travel Free Spirit SS could work for stealth camping. I read on one post that the bed on the SS can be extended except of the last 16" with the slide closed to allow sleeping with the slide not extended. That would probably be good enough for me to sleep diagonally as I'm 5'7". The length of the bed would be 5' 2". Not perfect by doable for a short person. Not sure about the 70C and if you extend the bed part way. The Coachhouse Arriva may be too pricey, but I could eliminate one fo the twin beds for more room.
May have to move up to a B=, but these three possibly could work for me and my 85 lb dog.