Here's the thing. If you end up getting a Class A, Class B, or a Class C, every time you need to run to the grocery store, go site seeing, do anything, you have to break camp so you have transportation. That means, every time you go somewhere, you have to re-pack every item in your motor home. You can't leave anything out, it will slide around, fall, roll. Things will need to be put up, secured, and anchored down ... every time you want to go somewhere!
In a Smaller CLASS B or C, you will have to put up and take down the dinette for bed space, then eating space, every day, every night, every day, every night. With 2 kids (regardless of age), they will constantly have to put stuff away, drag it out, put it away, drag it out ... EVERY time you need to run to the grocery store because you are low on milk or eggs!
The option is to get a TOAD (a tow-behind vehicle), perhaps your Jeep. But, then you need to make sure the motor home is capable of towing or not. This is about the only solution, unless you simply enjoy breaking camp and stowing away everything, every time milk runs low. (not to mention leaving your campsite empty while you are away, and dealing with the problem of someone else taking your spot while you are gone.... which is another problem all to itself).
On the other hand, a trailer or a 5er will give you the ability to set up camp, leave it as is until you are ready to leave for a new destination.
Before going any farther, you really need to narrow down which way you want to go, something you tow, or something that can tow? After that, determine size and capacity. Only you can answer that.
But suffice it to say, towing a trailer or a 5er is really no big deal. Yes, they are daunting and intimidating when you see them on the dealer lot. But once you get them home, it's amazing how small they seem. And every time you go camping, they get smaller and smaller! Live in one for a few months, and they all of a sudden become tiny!
First things first... You need to determine which way to go, and what will work for you! Many of us began with tents, and then moved to pop-up campers. Easy to tow, easy to work with, learned the basics of camping, figured out what we liked, what we did not like, and eventually moved to something bigger. We grew with it, so each step was not all that daunting. Maybe you should rethink a pop-up, a Hi-Lo, or an A-frame to start with. Something your current vehicle can tow with no issues.