Having slept in my share of pull-out beds and/or beds made from the table/seating area, I have always had a comfortable night's sleep. I'm not convinced a fixed bed is needed for that. For myself, the minimal time to make-up/take-down the bed at night is more than worth it to get more maneuverability a smaller rig allows. But, again, your call.

My ideal travel combo is a regular car pulling a teardrop trailer. You can drive a vehicle you like, the trailer is lightweight and doesn't add much to fuel consumption; you have a comfy bed/kitchen/storage that stays dry and secure; you can add the screenhouse or large tent to put up if you're staying in one place for awhile and want more room for changing clothes or whatever; and it's small enough to take through congested traffic with ease and other "tight" areas like you might find in national parks, etc. And, compared to the price of an A, B, or C RV, they're very reasonably priced. You can also leave it at the campsite while doing daytrips in the car.

Just something else to consider.