We had a T28 Bounder Class A, that was small enough to do what you are talking about as far as driving. Sure it is bigger, and wider, but we had it in 'in town' traffic many times. Can park it shopping lots by taking two end to end spaces. Fleetwood also made this size in Flair/Southwinds lines too.
IMO, up to a 30' Class A would serve just as well as the 28' size. With two slides, or more, you have plenty of room.
Our layout was on a Non slide, and it had a rear bedroom with a door. Our Daughter slept many a night on the bed that is made from the dinette area. The 30' also have a sofa that folds into a bed.
Ours was on the 99 and above F53 chassis, and with some extra suspension add on's - it handled very well, and tracked true.
Rexhall also has rigs in this size that we really liked, due to their safety metal cage construction.
Best of luck on your search,
Roo II is our 04 Country Coach Allure 40'
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