Have you considered something such as the Winnebago Travato? DW and I have discussed what we would consider when we feel we need to downsize. Just yesterday, I got to see a fellow camper's Travato and it really looks quite nice with a full wet bath in the rear, two twin beds that can convert into a king, nice galley and creative use of tables for use with the two captains' chairs. If I went with that, I'd have one of the nice popup style screen rooms to use (along with the awning on the camper. It's small enough to drive around like a pickup truck and no hitch to worry about.
We had tent campers when we started out and I wouldn't want to go back to dealing with bunkends and rain and having to dry them out. Before that, I agree with looking at a smaller travel trailer. Or, look at some of the class B rigs.
Good luck in your search, and stay healthy!