I think if you are traveling alone and planning on visiting friends by possibly staying on their property, then a Class A or C is far easier to deal with alone, and easier to fit in a driveway.
I bought a used Class C, 28 feet, last December. All my worldly goods and my dog, travel with me, as it's my only home and I don't pay for storage anywhere. Everyone said I was nuts to sell the car and go it alone in just the Class C, but for me it's been heaven on earth. I have been fulltiming 10 months now.
I don't feel the need to own a ton of junk, so the storage issue is not a problem for me. I seem to own all I need and still have room left over. My guest loft, (bed over the cab) I use for friend(s) that sometimes join me on a trip. I'm able to give them empty drawers and closet space too. I have a pantry area I stock with sale items when I find them. So there is always food around, I don't have to dash out for food, if I prefer relaxing awhile in one spot.
I figured if I needed a car, I could rent one. So far, I've never rented one, but my longest stay in one spot has only been 5 weeks. Even so, to break camp to go grocery shopping isn't that big a deal. Sometimes it's a good excuse to move to another campground in the area and be surprised.
What I love about not having a toad to fuss with, is one, it saves me a ton of money and two, I am able to stop and sightsee without having to find a camp and then backtrack in a toad. Three, it saves me a load of time, as I am not worrying with hooking it up and unhooking it, everytime I want to camp. Four, I am not allergic to walking, and doggy loves to walk. I've stayed in many RV parks where folks actually drove their toad just to carry out the garbage or drive to the laundry in the park. I can do that on 2 legs. I carry out my garbage daily, so I don't have a mountain to haul out anyhow. I stay on top of the laundry so I only have a load at a time to walk to the laundry area.
Grocery stores seem to always have ample parking, so I am able to pull over and stock up.I've even made lunch in the lot, and took a nap before moving along.
I was at Niagara Falls looking for a paid parking lot to take me, when I saw parallel parking available for free. I was able to park and walk to the falls and have a blast.
Not having a toad, means many friends have invited me to stay on their property and parking a Class C has been easy to do in their driveway or or on their lot.
Since THEY have a car, I get to ride with them to go places, but if I have to go somewhere, I can break camp, run my errands and come back again.
I know many folks couldn't dream of living in a small space or living without a toad, but I wanted hassle free travel, and for me, it's been nothing but fun, fun, fun!
Your budget of $50,000 is much larger than mine was, I hunted and hunted until I found a comfy unit that was a bargain. It pays to take your time and look at lots and lots of units before you buy. The more you look at units, the more you begin to understand what's important to you.
I ended up with a short-list of must-haves and an optional wish list. Knock on wood, my current unit, suits me perfectly.
I've just spent 2 weeks in a driveway invitation with friends, in suburbia,(New England) but I plan to hit the road in a day or so for a 1300 mile trek to a part time gig in the south. At the rate I move, wander, explore, it could be a 10-30 day trip before I finally arrive. Life is good. Go fulltiming!