So, just talking out loud, why not use a platform you could have an upstairs bed with? An eb with a poptop with a RB50 layout below has proven time and time again to travel/sleep 4 very comfortably.
Or even do a walkthru with two captains and a dinette in back. When you are parked, top goes up/hook the bed up and you can still walk throughout.
I guess you could also do a hightop sprinter with almost a bunkbed style in the rear.
Or even and econoline with a super camper bunks up top for the kids. Depending on the size, could have them above the cab.
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