I agree with your assessment that a B would work well for you.
We had a similar situation of wanting to visit family in another state and not having any close campgrounds and not liking to stay in hotels. We wanted something we could park in my MIL's driveway for us to sleep in. This is actually why we got our B. Then we got comfortable with longer trips in it - now it is our go to RV. Our poor trailer has been just sitting for the last couple of years - probably should have sold it this summer with the high RV demand, but we aren't quite ready to part with it.
Anyway - we bought our B at Sunshine State RV - which was mentioned earlier - and we couldn't be happier with how it all turned out.
Good luck with everything - it's good to hear you have lots of support - take care.