I have not looked at anything for several years but...
our first camper was really a 10X7X7 box and I saw a 5ver that was the same camper but had the bed over the hitch so there was no need to sleep where you sat, you did not have to go outside to change your mind and all the advantages of small were not lost to the disadvantages of small. This was probably a 15 to 17' 5ver. Not sure if there are any available but downsizing without changing what you are used to has advantages. Essentially this was a really large slide in camper with wheels and a bumper.