Anything is possible.
I made an irregular shaped drawer under a refrigerator in our previous Class C, it was deep enough to put a can of coffee an provided lots of storage.
With the current full drawer slides you can buy it allows the drawer to be pulled out the full length. Lowes or Home Depot will probably have a 24" slide which should fit.
Also, these drawer slides only usually take 1/2" on either side of the drawer. Make the drawer out of a good quality 1/2" plywood. If you any pneumatic tools it allows easier assembly, if not use screws and glue. You can leave the doors in place and the drawer could sit just inside.
2002 Monaco Windsor 38 PKD
2005 Jeep Grand Cherokee w/5.7 Hemi