Driving a 32' class C is not that much different than driving a 22' class C. You don't really need to worry about how far back the taillights are when motoring down the road the vast majority of the time; the main exception is when passing or merging. The width (and, to some extent, height) are more constant concerns, and they largely do not vary too much with length. The length does matter when maneuvering in tight places like parking lots or gas stations.
For a family living together for an extended time, apparently more stationary than moving frequently, I would strongly suggest not looking at too small of an RV, be it a mitorhome or trailer.