would you sacrifice drivability for more livability?

The reality is that if you are traveling around the country in an RV, most of the time you have more comfort and convenience in a Class B, for the simple reason that the "big rig" people run around all day in a car. The Class B crowd, on the other hand, have the conveniences of an RV all day long, bathroom, fridge, extra clothes, food, etc. The only "sacrifice" is in the evening after dinner, there is less space to watch TV or read until bedtime.