We were in the same position two years ago minus the work from home situation. Our kids 18, 22 and 24 at the time still camped with us 90% of trips. We went for the “couples” 5th wheel as you say, or as we put it a “mom and dad camper”. Grand Design Reflection 295RL with a master bedroom and rear living area with a pull-out couch and two recliners, under 33 feet so we fit most anywhere we want.
Our approach was that we wanted a camper that would suit us in 10 years, not one for the kids now. It was a great decision. When the kids come with us they figure out how to make it work or pitch a tent. Already at 20, 24 and 26, two of them are on their own and have their own tents anyway so they pitch a tent on our site or get a tent site nearby. The third one has a tent on order which will be delivered today.
We just planned three trips for the summer and all three are planning to join us at some point during each trip. As a bonus we get great pleasure in hearing about their own camping adventures without us.
