OK, listen people. ALL RVs have steps to get in and out. They don't all have steps INSIDE. Pretty much just fivers. Give the person a break. If you spend your day inside, you can mosey front to back as much as you want without any steps to deal with in a trailer.
OP, my only suggestion would be based on my assumption that you already have a stout truck, so you don't have to limit yourself to lighter trailers. In that case I agree with the recommendation for Northwood and Outdoors RVs. Jayco Eagles might be an option, but I think most of those are pretty long. Highland Ridge makes at least one shorter model that looks roomy inside and should be comfortable.