We just bought a used 2013 Itasca Navion IQ24G, after having a good experience with an older Sprinter class B. The IQ symbol simply means it has a slanted (rather than bulbous) over-cab area.
Going well so far. We chose the 24G queen bed model with a slide in the back as well as one for the living area. The bed is comfortable, the bedroom has three windows and is a pretty decent size for a small RV, and you have a narrow aisle on each side which is useful. There has been a rear queen slide View/Navion model for quite a few years. The mattress is in two parts, and so you fold back the top third before you retract the slide.
A few years ago, friends bought a new Navion with the twin beds, which we would have also been pleased with. The advantage to that model is no rear slide, so your beds are available to be used if you can't or don't want to put the two slides out. There's some storage space beneath the twin beds, I believe. The galley is a bit shorter.
I like the spacious, bright feel of the living area with two skylights. You can turn the driver's and passenger's seats around to face the room, and they make for comfortable room seating for up to four people for conversation or TV. There are night-time window shades installed against the windshield and side windows, rather than a curtain.
For two adults and a large dog, it's working out well. There are plenty of manufacturers doing top quality small Cs at varying prices on the Sprinter chassis that are worth investigating.