How much fun is that searching for a camper just for two? Loved it! We settled on a 2015 Palomino SolAire 251RBSS. It does have the full queen sized mattress and two solid doors. We removed the doors because in order to use the flip-around TV from the bedroom side, the doors need to be closed. Made it too claustrophobic for our liking.
This is the shortest camper we could find that featured a large slide, lots of storage AND an outdoor kitchen. Can't vouch for the quality yet. So far, so good, but we've only had it out twice.
Good luck on your search!
