We used to have a Class A motorhome and, although we enjoyed it, I personally found it a bit too much trouble. I had to tow a vehicle so the effective length was even longer than the RV, the gas mileage ate me alive and my wife and I found that we never really spent much time outside since the RV was so comfortable and spacious with it's slides.
We downgraded to a (used) Class B motorhome and I find it much easier to use. We don't tow anything since we can use the RV as a car, I get much better gas mileage, I find it easier to drive and no longer worry about the overhead space as much as I used to with the Class A. Some suggestions:
1) Look for something with a regular bathroom. Many of the Class Bs have a very strange toilet configuration with little privacy,
2) If you plan to do any dry camping make sure you get a generator. If you are traveling with a dog you may need to make sure the interior is cool when you are out of the RV hiking or walking. We travel with cats and the generator makes it easy for us to make sure the interior is air-conditioned when we are away.
3) I found the "wide body" Class B motorhomes to be much easier to move around in than the straight side Class Bs,
4) Some of the Class B motorhomes have front seats that swing around to face the back. When my wife and I were looking for something to get I thought that was a useless option but I have found that turning the seats to face the back when camping gives the feeling of a much larger interior and now is something I do even for one night stops.
5) This is probably obvious but you will have to cut down on what you take with you. While our Class B has a lot of storage (one inside closet which we put shelves into, quite a few inside cabinets and 2 relatively large outdoor storage spaces) it cannot hold a candle to the storage space in a 35' Class A motorhome. You will have to be very careful about what you decide to take with you. You can increase the storage by buying an inexpensive hitch cargo carrier but you will still be quite limited.
Good luck. I think you will enjoy a smaller RV. And be safe when traveling.