We chose a small (23 foot) class C, because we can park it almost anywhere, and the class C has the cab-over area for storage.
We wanted to make sure that we got a unit without a corner bed as we both have arthritis, and making up a corner bed is a real chore.
We are getting ready to upgrade to a 26 foot unit, because it has a larger slide and adds a love-seat... plenty of room for the two of us, and the dogs that travel with us.
Once you find a floor-plan that you like, go with a manufacturer that has a two year warranty, rather than just one year.
This is what we're looking at now...
http://www.jayco.com/products/class-c-motorhomes/2016-redhawk/26xd/