There's no "one size fits all" answer to a question like this - everyone has their own interests and normal operations/activities while "camping"...
My wife and I have had our '88 24 foot Kit fiver since new - we've traveled and stayed for several months at a time on coast-to coast trips - usually just the 2 of us, at times the daughter and grandkids with us.
I like our setup for the generally adequate size and manueverability, and yet the fact that virtually ALL canpgrounds can handle our size. We tend to spend a significant amount of time inside the rig, sometimes dictated by weather changes, and our setup is quite comfortable in those cases - TV, microwave, fulltime eating/sleeping/lounging areas that don't force us to manually convert an eating area into a sleeping one, etc.
Imagine someone like us, trying THIS in a cabover camper:
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But that's just us - those who travel to get out away from the campground to see surrounding points of interest, and primarily use the camper only to eat and sleep, have different goals and wants than we do - so how could we even attempt to advise others on the "best" type of camping setup?
You have to outline and determing YOUR personal notion of what constitutes "camping" or RV travel - then get the setup that best fits YOUR needs and expectations...