You haven't really talked about what you do. If it involves moving around continuously, staying on highways, a B (van conversion) can work, and since it need not be any larger than a full size SUV (sizes range from under 19 to 25 feet) it might be parked in places that have large vehicle restrictions, though it might be trickier if you have to deal with commercial vehicle restrictions.
Truck camper works better, on an appropriate truck, if you want to go off road or use wilderness roads. A small camper on a tall 4x4 pickup retains most of its ground clearance, while a B typically has less ground clearance than the original commercial van, because of the RV stuff that gets hung off the frame under the floor. Not all designs, but typical.
If you spend a lot of time living in it, a small A or C motorhome might be more comfortable than a camper van or truck camper. This depends on how many people and how much space each needs, and how you feel about daily conversion of multiple-use spaces.
You might check all your rules (HOA as well as city codes) on RV parking, because there might be more to the restrictions than length. My city has length and height limits defining what can be parked in a driveway and what needs to be hidden behind the house.
For long-term camping I have a 29 foot C that I keep in storage. For traveling, and as a base for tent camping, I have a 12 passenger van from which I've pulled seats and done some minor conversion. As a passenger van of that size, the city code treats it the same as a large SUV, though it is about a half foot taller than a 4WD Suburban.
Tom Test
Itasca Spirit 29B