Width and height, not length are the separators of Class Bs from Cs. I've driven on several roads just this past year you would dare not or could not take a Navion, View, Serenity or some other shorter Class Cs for instance.
As for that length. I can still get my 22'-9" Sprinter into pull in angle parking spots in most places and some straight in spots if there is space to overhang at the curb. My previous 21'-11 Sprinter was easier. A 24'-1" Sprinter would be chancey. However, if you are hauling bikes, a cargo carrier or spare tire you are pushing it with all three. The Era 70A storage in the back is ample so you would not need a cargo carrier. The 24' Advanced RV was designed with the idea of carrying bicycles inside the cab. So in both instances they solve the extension to length issue. Spare tire? I have none. How about that? And to think I drove 10,500 miles on the Alaska Highway, Yukon Highway, Cassiar Highway and gravel On Top of the World Highway. I did chicken out driving the gravel 400+ mile one way Prudhoe Bay Highway that I wanted to do.