Well, now you have recommendations for virtually all popular types of RVs in the "smallish" category.
And to no surprise, each have their plusses and drawbacks.
Seems like comfort and "space" to live are of your priorities and regardless of RV type, appears you're going to be storing it away from home when not in use.
That, IMO is also a big consideration, both from security (theft), weather protection (UV and precipitation), rodents, possibly no power hookup, ease of retrieval and storing it.
As convenient as some things are with a motorhome (you're firmly in the class C category, it seems, based on your posts), I wouldn't want the extra "vehicle" to maintain/store/repair/insure, in your situation.
The easy button, and most selection/availability, is a modest size travel trailer, IMO. Ditch the minivan for something that is made to tow, keep the EV for bopping around at home, have your camper in tow and a runaround vehicle while camping and a comfortable vehicle for bobtail road trips (not your EV, as stated by you).