It's never too late to change lifesyles - as long as you are willing to make the change. It's no small thing, though. It really is a fundamanal change in your life style. You will be lving in much less space and be at very close quarters with each other just about all the time. Some folks have a bit of trouble adapting to that. :-[ And you will also be changing your attitude about possessions. i.e. getting rid of a lot of stuff (downsizing). That can also be a struggle for some.
Certainly you fulltime in a Class C. Whatever works for you is fine. But may I ask why you have targetted a Class C for your future? Sometimes people gravitate towards a C simply because the cab area is more familiar, like the family car. That lends an element of familiarity to an otherwise daunting experience, but it 's not a good reason for choosing one RV type over another. Size and floor plan have more to do with livability than RV type.
Fulltimers generally choose a fifth wheel or Class A, because these tend to offer the most room and the most storage, both inside and out. However, the large Class C's, e.g. a Jayco Senaca or Gulfstream EnduraMax, are similar in size and capacity.