Size is optional on fulltiming. I've seen people who have huge mega rigs and those with the bare minimum in size that are having a blast. My friends did over 100,000 miles in a very old Class B, and they are still married.
I've been fulltiming alone in a little old Class C 28 footer, going on my 4th year.
The past few months, I've had on an old friend traveling with me in my Class C with my dog and we have NO slide outs. We have had an absolute blast. Oh and we have NO toad. We do share a bicycle in that we take turns riding it. We spread outdoors with the stuff stored in the basement, such as table, chairs, patio mat, umbrella and so on. That gives us more "room" weather permitting. We like the outdoors, and open windows.
We go hiking, but not always together. Neither of us care to own a ton of junk, we like it simple, that gives us more time to relax and keeps the budget much lower than most folks. We even cooked all our meals, only eating out on our last day together. We have a simple rule, no yelling unless the rig is on fire.
While we do a lot of things together, we also did a lot of things separate.
I cracked up the Camping Worlds salesman recently. We stopped on a "break" to do some sightseeing in the store. I bought an RV part for $4. But since they let us walk the dog in the store and such we decided to check out all the stuff for sale, give our legs a workout from driving around. Finally at the checkout with the $4 part the salesman was trying his best to sell us a membership (for discount buying) and I told him I didn't spend enough to warrant it. I said "I already have everything I need except this $4 part!"
Having a lot less junk has a ton of rewards. Less to clean, less to maintain, less to pay for, less to worry about!
There is no one shoe fits all.. I have met a ton of folks that have to take it all with them and keep adding to the pile. Some people need to own lots of stuff to be happy and others are happy without the excess.