You have received some good advice so far. I will pile on to the low to mid 20's end to end for the type of camping you want to do. We like to do the same kind of camping. My 180ck is 22'4" hitch to bumper, and there have been times I was really glad it wasn't longer. National parks, out here especially, have A FEW sites to accomodate larger rigs, but they are limited and sell out very quickly. Shorter gives you more options. Sometimes I wish I had a TC, like we did when I was growing up, I would never have to worry about site length.
Our 180ck is one of the most common small trailer floor plans, and works very well for my family of 5 (often 6 with DW's aunt) It has a single over double in the back next to the bathroom. A 72" length dinette with drop down table, the kind attached to a hinge on the wall and a single fold up leg, it literally converts in seconds. A jacknife sofa along the front wall that also converts in seconds. There is plenty of storage as well. It is a very efficent use of space. We don't have a slide and that is ok by me. Most manufactures make a version of this floorplan, calling it a 18 or 19 or maybe 20 something model.
In order to keep a shorter length for the kind of camping you want to do, you will generally have to have a corner bed of some kind. Models with walk arounds in this size are usually for 2 people and will not function for a family. My inlaws have a trailer like this, it is perfect for the 2 of them.
For us, we keep the double made up like a bed, and the 3 kids have sleeping bags and pillows. In transit, all our bags and suitcases are on the single over bunk, I have a toddler bed rail I installed to keep everything up there. The sleeping bags, pillows and blankes go under the couch. At bedtime I drop the couch and dinette, pull out the sleeping bags, kids clothing bags go under the table and ours go in the bath tub in the bathroom. Takes about 5 minutes to change from awake to sleep configuration.
Here are a couple other interesting floorplans though they are in the mid 20's
Rockwood mini lite 2306
Jay Feather 23k not made anymore but a very interesting floorplan, actually has that walk around bed plus bunks in a 27ft hitch to bumper trailer
If I was looking today, for our camping style and family of 5, the Lance 2185 would be near the top of the list