Most likely camper to fit your tribe is a three tent hybrid. Crappy tanks but fully utilized sleeping areas x 3 queens. I have always owned canvas either in pups or hybrid and never have to worry about bears. Black bear a plenty in my region of PA.
Most of the 3 bed hybrids are 23 feet bodies with gross weights at your sweet spot 6600 pounds Gross. Another spec is your storage space and hybrids meet that requirement. Less than 30 feet bumper to hitch. I'd upgrade vehicle to 3/4 ton truck as kids go off to college. I use a k2500 Suburban which is 2405 pounds of payload and 7600 pounds of towing. Purposely built to beat the piss out of towing campers/boats.
