We take our short (24 foot), 11'5" tall, 101 inches wide, non-slide Class C everywhere to onroad/offroad sightsee, explore, and camp with no tow vehicle.
We do have to sometimes park it carefully in crowded parking lots, but can usually manage. Of course when we do camp, we have more room than in a B or B+ ... including two queen beds which we use all the time. Our traveling friends have the identical Class C floorplan but in only a 96 inch wide coach ... which does provide for less "nervousness" when driving through highway construction zones.
In my opinion it's Class B/B+/C motorhome length more than anything else, that determines where and how you use it. Short as you can get by with is the prime consideration on size.