Our 2004 Tioga 26 Q (27 feet bumper to bumper) has an RV queen size bed cross-wise against the rear wall, access at foot and right side only. We use a Trav-sac sleeping bag for two that does not need to be made/unmade, helps but not perfect. Must go to longer rig or one with bedroom slide for walk-around RV queen beds. Pity!!
A Roadtrek or other van conversion is a much more versatile vehicle than a Class C or A if you can tolerate submarine-like "this turns into that"" features. We owned a Family Wagon Dodge B300 bubble top
van camper for many years and loved it for short term camping and touring as well as mom's get around vehicle. Not ideal for specific uses but very versatile. No shower, small porta potty room, 2-burner stove, ice box, awning. Gaucho U shaped couch converted to a bed, kids slept in overhead and telescoping rear overhead bed.