Before you buy, go to some trade show or dealership and spend some time around the rig you are interested in.
We are in a somewhat similar situation. We got rid of our Outfitter popup for a number of reasons. One of them was that I am no longer comfortable climbing the high cabover and the scissor steps. There were more reasons that made it look like a smart move at the time, so we sold it.
We were looking at european class B and C offerings. Most are based on Sprinter, Transit or Ducato/Jumper (US: Ram ProMaster) chassis - basically the same stuff that you guys now have, but with different drivetrains and usually a stickshift (which is a problem for me; I need an automatic).
Getting from the front seats to the back in driving configuration is a major climbing challenge in all of them, IMO. It is easier to get out one door and get in the other. We had the same experience in a rented class C in the US (E-Series), where it was possible to go to the back in principle (did it once), but not exactly easy.
Insulation is a major issue in all class B offerings; class C are much better.
So far we did not find a floor plan we really liked. Almost none are optimized for two people. I don't know about US offerings, but over here apparently everything is about looks and very little about useability. Fridges that are tiny and almost unaccessible. Bathrooms that are also tiny and impossible to clean. All look good on the website or in the brochure - until you actually climb inside one and try to imagine your camping day.
Right now we are looking at another TC. Access issues can be mediated by Fox landing or similar solutions, step ladders to the cabover, things like that. You wonder why no one seems to offer an "accessibility package" for a TC (or any other type of RV).