I have a 20' class c and I can usually park it just about anywhere, even regular parking lots. I have driven it to go sightseeing and it's a good and bad thing; good because being small it still fits in parking lots and if you get tired or hungry you can just go back to the mh. Bad, because you have to disconnect everything and load it all up everytime you go somewhere. I did the TC thing until this mh, but imo it was almost the same thing-load up and go. If I were to go somewhere sightseeing for a long period of time, I think I'd rent a car.
As far as being large enough for 2 people and a dog, my DH and I usually camp with one of our dogs, an 80 lb. Lab, in it. A little tight for DH as he's tall, especially the bathroom. When I go alone with my dog (100 lb. Lab), we do fine. I'd think something in the 26ft. range would be just fine for what you want.
