Tim,
You did not mention what your budget is, and if considering used or well used.
I ask because a 21-22 foot Starflyte made 1997-2005 has a double bed on the main floor, and a tiny dinette where a folding chair for person #2 works. My brother and his wife own one.
Our 10 year old rig
HERE is 23'-8" long, with a standard dinette and main-floor standard double bed. It is as short and scaled-down as we could find in 2007 yet having all features "practical". Phoenix USA continues to offer our model with and without a slide out.