I'll weigh in with my .02 since I have a son around your daughters ages and he brings friends at times, so we're up to a 4 person family then with two dogs. Everyone's dynamics are defintely different, but our 31 ft C fits us really well. DS sleeps in the cabover and his friends sleep on the jackknife sofa (or vice versa). We do knock down the dinette frequently to put our dogs crates there when we go somewhere for a few hours but I would avoid breaking it down every.single.night if I could. It is nice for someone to be able to sit and eat breakfast while others are still sleeping. So personally I'd look bigger than the sprinter chassis models. Rainy days happen and it is nice to not be sitting on top of each other watching a movie or playing cards.
Oh, and we don't have a toad. We either stay put, use bikes, rent a car, or drive the Winnie. As far as packing up, we just don't leave too much stuff out if we know we'll move. For stuff like the coffee maker and pump soaps, we just have that non-skid shelf liner under them and they don't go anywhere.
We dry camp a lot since we love state parks and most up here in New England do not offer hook ups. However, during July and August I do only book places with electric hook ups. The built in 4000W genny runs the air just fine and we use it if we stop to sightsee without the dogs on hot days so they stay nice and cool. But I don't think I'd want to bother with running it so much to keep cool all the time. And depending on where you are at you might not be allowed to run a genny all the time anyway.
We switched from a 23 foot TT, so the 31 foot C seems big to us, so your mileage coming from a 5er may vary...but we sure like it! SOOOOOO nice to not have to mess with hitching and unhitching. Backing into sites is a breeze.
Best of luck with your decision!