Motorhome or 5th wheel is a question many of us have asked. We decided on a motorhome. We spend 5 to 6 months each year on the road, that's equals an average of 13,000 miles each year. With a motorhome we have only six tires, one engine, and a bunch of other advantages you probably already realize over a 5th wheel. As to space, it is ample. Besides we have the great and vast out-of-doors. I would suggest you consider bunkbeds in the back for the children and you can have the double bed space over the cab. And take a tents for the children to enjoy sleeping outside occasionally.
One thing you should remember is that in most states you can't be wandering around the rv. Set belts are required when your vehicle is moving especially on children. And beware if the effects of the rv's motion when driving down the road. I rarely have a problem with motion sickness but sometimes reading while we are moving can give me a yucky tummy.
You mentioned "teaching" several times. May I suggest you consider volunteer with the Forest Service as part of a science unit. Perhaps you all could help with a raptor or butterfly count or maybe "plant" some fish habitats. Check it out. There was one group of children who helped the Naturalist find food for the critters in the Recreation Area's nature center - that was really fun.
What a great adventure you are setting out on.