I would avoid the Mercedes based class C with the diesel engines. We had a bunch of them at my work, and around 110,000 miles, 4 of them failed transmissions, and had to be replaced at $4,400 each.
I don't think you would want to tow with the Mercedes vans because of lack of power and a poor transmission design.
Some have new designs based on the F-550 pickup, you can get those in 4 WD, or some van based RV's can be shorter.
You might want to look at Lazy Daze brand class C. They are well balanced, shorter RV that is compact enough to park in most parking lots. Lazy Daze never did build slide outs. But this also keeps them lightweight too. .
There is a lot of variety out there, you should be able to find something!
Fred.