Absolutely, it IS considerably over 23 feet. My Class C motorhome (2012 Tioga Ranger 31N) is 32'. I have put 85,000 miles on it over the past 4 years and 3 months, so I do keep moving.
I have driven over steep mountain passes, along very narrow and curvy roads, and can back up like a champ! It just takes experience to get the confidence to go places with a big rig.
And I can be packed up and out of a space in a very few minutes--4-5 if all I have to unhook is electric and water. Maybe 10-15 if I have sewer hooked up and need to dump tanks. Most of the time, I keep stuff picked up inside so all I have to do is start the engine and push a couple of buttons to put slides in. Then hit another to put TV away. Stuff everything on counter into sink, and unplug electric and water hoses outside. I will have already put chairs away the night before or just leave them and hose out if I am just going out for the day. You get fast at it with practice.
Obviously, I am limited in shopping to large stores like Walmart and places like Lowes and Home Depot, but I have taken my rig into small and large towns and found parking, even in a side street. Sometimes I have to park in a shopping center and walk a block or two, but I manage very well for a 73 year old woman traveling alone!
Oh, and I also almost entirely park in state and national parks. Very, very seldom problems getting a spot because I make reservations far in advance. I am in a COE campground in ND along Missouri river right now and there are dozens of empty spots here to fit even a much larger rig. Not having a tow vehicle means I don't need space to park it, either.