I have settled into city life, and either ride my bicycle, motorcycle, or catch a ride with my girlfriend to work. Space is tight around here, so having a smaller vehicle is nice (a bigger one won't fit in my off-street parking). My 93 Ford Escort Wagon has been a good road trip vehicle in that it gets good MPG and is plenty reliable, but we can't sleep in it comfortably, which either means backpacking, or staying in a campground. When your trying to get as many miles in a weekend, setting up camp is annoying.
On the flip side, I'm still an avid backpacker and UL hiker, and have no need to cook inside a vehicle. Most of our trips are in or around civilization, so a bathroom isn't hard to find, nor a shower.
The only reason I want a larger vehicle is to more comfortably sleep in it, and I don't want to draw attention to the fact that I'm sleeping it it. I want to be able to sleep at Walmart, at rest areas, in state park pull-offs, city parking garages, and anywhere I can find a quiet place. A pop-up or bed-camper is just too conspicuous, and all too expensive at this point. I'm still paying off college loans at a less-than-desirable salary.
The girlfriend has a much better salary, and will be purchasing a new vehicle soon, likely one capable of 40mpg highway, but it will be a nice new vehicle, so taking it on adventures may not be desirable. It will be the "hotel car" and my vehicle will be the "camper van".
So, all this being said, when the main goal is blend in the with the surroundings, minimize cost, and minimize size, and still sleep two comfortably, which is a better start:
Mid-Size (Astrofari) or Full-Size (E350, Savanna, RamVan)?