djsamuel wrote:
Campers like the one my wife and I have may not be ideal, but can handle 2 to 3 kids and the parents, while being very light. We have the camper below and tow it easily with a Ram 1500. Now it is smaller than you were looking for, but certainly more than a pop up. The two bunks and the dinette/bed can handle the kids with the queen bed for the parents.
Even if the Camplite is not for you, there are other similar alternatives.
Camplite 21BHS
I'll second the floorplan above. We first camped in a 2008 Keystone 19FLB, which is a similar floorplan with two 11 year old twin boys at the time. They always had at least one friend or cousin with them and we made it work. We did buy used and small as it was our first camper.
We got plenty of use out of it before finally upgrading this past summer. It can work with a small floorplan and still be fun.