I agree with the class C, B or A.
Your comment about "walking around" in the RV sounds more like you want to be able to walk back to the fridge and get a soda, or use the restroom while the other person is driving, or prepare lunch to eat while on the road. You can't do any of that in a trailer (toy hauler, 5th wheel, or whatever). You can ONLY do that in a motorhome or van conversion.
You state that your wife's list includes "our own bed". Depending on what she means by this will dictate the size RV that you need. Does she mean a dedicated bed in the RV (versus having to convert the dinette into a bed each night) or does she just mean "it has to have a place for us to sleep". If the former, and you/she don't want to use a cabover bed, then you're looking at a 24' at least. If the latter, then you could look at a class B or a class C that is under 24'.
By going with something smaller like the 24' (or less), you will be able to drive the RV as a vehicle for the most part. The bigger the RV, the harder to use it to go sightseeing, dining, etc.
You will end up having to tow the Goldwing. But, you're going to be towing something regardless so is it really a big deal?