OP here. Yes, we are thinking of abandoning our Class C for a B. I am retiring in less than 5 months. Up to now, we have gone somewhere and camped for a week or two. After I retire, we are considering travelling for months at a time, more driving, less parking. We also no longer have kids along. That is why we are considering downsizing.
We don't mind "closeness." The Roadtrek Zion we are considering still has 2 separate areas, so we can get SOME space. The king bed/dinette in the back, and the driving seats/dinette in the front.