I have a 2005 Gulfstream Vista Cruiser Sprinter Class B. The Sprinter chassis is an excellent choice for what you want to do. I too recommend the popup. This gives you options not mentioned. If you use a popup you don't have to take it everywhere all the time. If you are in a campground it keeps your spot rather than packing it all up and unhooking everything. If just the adults go then you use just the van.
We love our Sprinter but repair locations can be a problem to find. Not all MB , Dodge or Freightliner dealerships work on them. Few independent shops are equipped or trained either. They are out there but just be aware.
