I've done what you're talking about for many years. We used a 35' bus, which would do everything you're talking about, but be harder to park in town. Also, we privately rented a class A, about 34 feet, and it needed a trailer for the equipment, but very nice inside. And we went the most miles with a converted truck. It was a 24' straight truck (plus cab length) with a hard wall 7 feet back, sort of like a toy hauler. The front half was accessed by crawling through the former back window opening of the cab. We had 6 bunks, the middle ones folded down during the day to make the back rests of two opposing couches. A relief tube, air conditioner, lights, and an escape hatch out the roof. Would cost about the same as an old rv, and be very heavy duty. The entire compartment was also insulated. You could make more bunks and a small lav/toilet by using more space of the truck, since you don't have a large equipment setup.
It's VERY hard for bands to travel with overnight drives if they can't afford a tour bus with a dedicated driver. Passenger van pulling a 4x6 trailer is the cheapest solution. Thick pads on the floor, one sleeping on each bench seat, each floor space, and 2 in captain's chairs in front. Good luck.
One other option is having a travel day, or later load in, after having your most stressed out member drive all night (won't fall asleep at the wheel). That's also what we did for years, with me being the stressed out all nighter. I would sleep while they set up and sound checked without me sometimes.
Coachmen Pursuit 31BDP 2013, 300w solar, 1200w sine inverter, In-motion Winegard Dome sat. ant., L.E.D. lights, P2 brake controller, Yamaha 250 on back carrier, or pulling Stehl dolly with Hyundai Santa Fe