We use only a 24 foot Class C for our RV travels. We run all over in it in towns to see the sites. Sometimes that's a slight problem, sometimes it is not a problem.
What I DO KNOW is ... it's sure nice having your own rest room, refrigerator, napping bed, and air conditioner with you at all times for quick crashing ... even in towns. We're not into having to "hold it", or coming home all tuckered out after riding around in a cramped passenger vehicle. We get enough of that in our daily living where our stick house is.
Sometimes we use campgrounds - not desiring to leave the RV at all - so that we can just crash and lounge around. Where we really like to camp is camp spots with no hookups in the middle of beautiful areas where we only have to walk or hike from the RV, or drive only a short distance to a parking lot right at a point of interest.
For what it's worth, we have taken trips as long as 10 weeks in our small Class C without getting tired of it. To us, this is well worth not having to tow something behind. My idea of an RV is to have a fully self-contained and comfortable small house with you all of the time.