Sounds like you really need a touring vehicle that comfortably seats six, but with the benefit of a bed/bathroom. Might be a tough thing to find! So - I was thinking about how to seat the most people comfortably and thought of the Coachmen 23cb.
Admittedly, I may be a little biased as we have a unique Coachmen layout that we think is fantastic...the Coachmen 23cb is the closest they've made to our floor plan since the one year they released ours (in 2007). For whatever reason, we seem to have odd taste in floor plans, as we were told it wasn't popular, hence being discontinued quickly. Looks like that may have happened again, as I don't see the 23cb in the current lineup...
Anyway, my thought is you want to maximize comfortable seating for travel. This unit has two dinettes and a total of includes eight seatbelts. Since there are three front-facing dinette seats, a total of five people could face forward while traveling (I am the type who gets sick going backward, so this seems like a plus to me). Keep in mind - in order to qualify as "comfortable" for long distance travel, you may need to plan on upgrading the dinette cushions. They usually give out pretty quickly, especially on more entry-level units.
Here's a YouTube tour of the Coachmen 23cb. (The guy and video cite the wrong model number, but from everything I've seen, that's the 23cb.)
I didn't really look much, but in trying to find the floor plan I noted some for sale new (on the West coast) for about $45K. Might be within the right price range. And you get a nice bed/bath/kitchen as well! We've been very happy with ours...
