We just recently purchased our first RV. It's just 2 of us and pretty much walked past anything with a bunkhouse (which I think you should be considering). For us it was wasted space. That said we found a used 2010 Winnebago Vista 32K which is a bunkhouse unit. The previous owner (who we bought from) had converted the bunk area to storage plus a Splendide washer/dryer.
This model has a larger dining area because it *could* sleep 8. A queen bed in back, 2 bunk beds, 2 on the dining table, 2 on the sofa. There is not a dropdown bunk up front but the newer models may have that. I don't think I'd ever consider putting that many people in it at once but that's just me.
There are at least 2 seatbelts on the dinette and at least 2 on the sofa (maybe 3) plus the driver and co-pilot seats so you'd be comfortable to travel as a larger family I'd assume.
It's 33 feet long so a bit longer than it sounds you want but from all I've read will fit into most parks. Just throwing that out as an option because you're going to need to make a list of wants / likes / must haves with 5+ people so this could tick many of the boxes that you're going to have as must haves.
that's my $0.02 for you. I'm sure there will be others with their opinions.