I'm on my third Toyota motorhome and you cannot beat them for price, reliability, amenities, and economy.
The pop ups (Chinook) can get 20+mpg
My current rig is a 1990, 21' 3.0 v6 automatic and it gets about 15mpg so far. 22re 4 cylinder is a little more bullet proof but the v6 gives a little more power without affecting mpg much at all.
Sleeps 6, full kitchen, full bath with separate shower (not a huge fans of wet baths for long term use)
My current v6 rig cost $5600
My first Toyota Moho was 1987 22re auto 21' 13-16mpg $2500
Second rig (which I gave to my parents) 22r 4 speed 18' molded fiberglass sunrader 14-17mpg for $4000
Good luck and happy camping. An alternative to the Toyota would be a vw class c (big $) or an old domestic diesel (not great mpg or reliability) or a sprinter (big $) or a camper van that may not be as liveable.
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