A B can work as a daily driver. It doesn't have to be big for a couple and a dog.
I use an 18-foot one-ton van as my daily driver, same size platform used for smaller B's (some go to 21 and 24 feet). It gets around as well as all the crew-cab pickups, full size SUVs with which I share the road. It is only 9 to 11 inches longer than all those minivans running around the city, and not much wider, just taller for more space inside. About the same length as a Suburban, a foot shorter than an Excursion.
Standard length and extended length (usually just under 20 feet) conversion vans were once popular as family vehicles, until replaced on the market by large SUVs.
But I don't live in New Jersey, I'm in the rural mid-Continent where larger personal vehicles dominate.