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You just have to look at a large number of motorhomes and find something that suits you and your camping style. I went from a 26' class C to a 32' class A. As far as driving , there is not a lot of difference between them. The class A has way more storage and much larger tanks. Most of our trips are out boondocking for a week or less so the A works good for us.
Mom and Dad had an Xplorer 228 back in the 80s. It was a full Class A that looked like a Class B. Dad ordered it from the factory with a window A/C built into the closet instead of a roof A/C, so it would fit in the garage.
Maybe some company still makes something like that.
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