5th wheel vs Class A - which is better for US?

That's a tough choice and it's really comes down to a personal preference.

How much experience have you had rving prior to deciding on going full-time and how much do you want to invest in a rig?

We spend about 160 days a year in our coach (34' 3") and sit in one place for up to 6-8 weeks at a time. We've had both a 5th wheel and a Class A and although the Class A is way more convenient while traveling, we really would like more living space when staying put for a few weeks. If I was ever going to go full-time, I would want a 40'+ long Class A which would become more price prohibitive than having a 38-40' 5th wheel.

We are actually thinking of going back to a trailer within the next couple of years or so.

Good luck with whatever you decide. :)