I HATE to cook - if I'm on vacation, I want to eat out. Ed and I love to find little places to sample the local food. That being said:
When we had a Class C, after several years we learned to bring a toad - we had a lot of fun exploring areas surrounding where we camped! Then we graduated to a 5th wheel - that wasn't so great. The giant truck we used to pull our 5er didn't fit in the quaint little seaside cafes' parking lot. Most times, we'd be able to find a spot, and then would walk back a block or two, to the place we wanted to visit. I'm sure your average Class B would have the same limitations. Then we had a truck camper - it was more nimble, but hard to park parallel on a street because it was too wide. After buying a condo to Snowbird in, now we have a converted Transit on the 148" wheelbase - not really an RV, but a camping conversion. Fits just about everywhere we've wanted to go as long as we watch the height.
I really feel like the optimum setup for exploring is a good-sized A or C, with a fun little toad along :-) We had a Wrangler, and did some mild off-roading with it, too - waaaaay fun!