Less than 24 feet with a walk-around double/queen bed and a dinette is a very tall order. That LTV got real close to your 24' limitation.
Our Phoenix Cruiser is 23'-8" which falls within, but of coarse it has the corner bed. We bought our rig
HERE in 2007 at age 49. We did buy it with our later years in-mind since we keep such things so very long. The plan is to use it until too old to safely drive it. We are 58 this year and though the rear corner bed was never ideal, it is still working well. I can envision in our 70s & early 80s, I will likely make a minor interior change to help us with bed access. It would be easier to get in and out of bed if the hanging shirt closet was made as shallow as the adjacent over-head cabinets. And I would ditch the bedroom TV and pull out shelf to help make it work.
If you considered a Phoenix Cruiser 2350 and would like the shirt closet made shallow to easier access to the bed, the factory would be happy to accommodate such a request, and I believe it would be at no extra charge.
Rear corner bed aside, our rig is extremely comfortable. We are not large people struggling with weight loss which does make a difference in the fairly compact design.
If you are worried about your home owners association, consider a B+ rig like ours with a full body paint job and without the ladder and roof rack, so it doesn't look so much like a motor home. Our rig also is much more narrow and with a much lower roof line compared to a typical class C motor home. It's not as massive looking parked outside next to your house. Pick a color that blends in better to the world around it. If you do all suggested, there will be little reason for "Association" issues.