To get a rear bedroom with RV queen bed with access on both sides you will probably need at least 27 foot rig. This length has considerably more storage and cabinet space than 22-24 foot rigs plus much better sleeping setup. My opinion, a 27 footer is the ideal size for a mature oouple and a dog. Don't be overawed by a 3 feet longer rig, and decide later that need a longer rig with rear bedroom and more storage and cabinet space. Consider buying a 3-4 year old rig and save initial depreciation etc. of a new rig. Each brand has entry level and more luxurious models and different floor plans/lengths.