We first started RVing in a Jayflight 22FB. We picked it specifically because we were going to spend a lot of time dry camping, preferably in forest sites or on the beach. We loved that little trailer and spent up to three weeks at a time in it. It has a 2K cargo capacity, 90G fresh water, no slides, a walk around queen bed, and tops out at 27'. Yeah, it sounds large, but we managed to wedge it into many tight places. Unfortunately, they stopped making that model, but one can pick them up pretty cheap in the used market.
Best of luck in your search.