Perhaps a modest class C would be worth considering. Our 20 footer, for example, goes anywhere we want so no towed vehicle needed. It has a large bed over the cab sleeping two very conveniently and comfortably. Another two can be accommodated with the dinette made into a bed. We bought it 7 years ago as a retired rental unit 4 years old. So far it hasn't been in a garage unless you count new tires.
Don't rule out the humble tent trailer which can be towed easily by a car if not unreasonably large. Ours easily sleeps 4 adults. Can be set up in ten minutes. Very pleasant in good weather, even ordinary rain or a little snow. It saves enough money to stay in motels in severe weather. Much less to worry about than a 4 ton motorhome.
Incidentally, we have never plugged in either RV or used a generator in 35 years of camping, which enables us to stay in nice places at modest cost.