I say wait before changing.
Instead, learn how to hitch up the trailer and drive it. See how you feel about towing.
It's possible that if you are able to take on some of the "work", that your husband won't find towing that bad.
Also, if you can hitch, tow and level the trailer by yourself, then you will be able to hitch, tow and level a 5er, or drive and level a motorhome.
If you don't learn how to do those things, then you may find a 5er or motorhome doesn't make any difference to the amount you use it.
Once you can do those things, then you can decide if hitching a 5er would be easier/less work than hitching a trailer.
If neither of you like towing or hitching, then a 5er, TT or big motorhome may not be the solution.
Your kids are getting older, so maybe a small TT or small class B or C plus tents for the kids would be more relaxing setup (thinking that if you were comfortable driving with the popup, then a small trailer would work).