The travel trailer we just sold would have been perfect if we never camped with our adult children. It was 26' with a walk around queen bed up front, kitchen with dinette and couch in the middle and the bathroom in the back. After a very wet Memorial Day weekend and my adult son and his friend camping with us, we upgraded. Of course, we don't tow our 5th wheel anywhere. It stays put on our lot.
What you are wanting to do is totally doable. Lots of great floor plans out there. If you are worried about feeling cramped, get one with a slide. I think storage and a walk around bed would be my main concerns.
