There 2 large RV rental companies in the US that may suit your needs,One is
El Monte RV they have many choices in their RV rental Fleet both Class C and Class A.
There is also
Cruise America they offer a smaller choice if RVs in their fleet.
First is to decide on the type of RV that will fill your needs,look at the floor plans of each type to help you decide on how to have your own space.
As stated before there is not to much privacy in a RV but if everyone gets along and can tolerate each other in cramped spaces this will make it enjoyable for all.
