19 ft. is set up like a 5th wheel. large bed over the tow vehicle and rear dinette bed. You will still have to roll up bedding from rear dinette each day. but the upper queen size bed has a degree of privacy. Could be where the sleeping bags get stowed during times the table is set up.
There is a deluxe layout but this standard provides a couch for the dog.
Me thinks you are generous in allowing kids to sleep in. My mom made breakfast and if you didn't come eat it then you waited until lunch. She wanted the meal done and cleaned up so she could enjoy her and dads morning. Might find a snack and glass of orange juice but us kids had to get up for breakfast if we wanted to eat it. We usually cooked outside when I was a kid and still do.
Have made hot water and coffee in the camper, eaten inside but cooking is an outdoor thing. Pizza or fast food picked up when arriving late is eaten inside as a rule. We found setting up the awning
and having a kitchen outside was ideal. We store food in the car not the camper so outside is spacious and convenient to food boxes and coolers in the vehicle. Might be different with a truck rather than an SUV.
Something to consider is while a tent isn't ideal if weather is bad or one is pulling in after a long day driving for an overnight stay which makes set up and tear down an extra hassle but a tent does offer an option that teen aged kids may well enjoy as long as there is a spot in the camper for them if weather or circumstances warrant it. Maybe a 4 person back packing tent to give them some room and allow for a friend or even two to come along. Although that would be very cozy in the camper if the weather was bad but sleeping in a tent that stays up in a storm is sort of cool.
Dogs make it unlikely that activities around your camper are not going to get noticed and commented on by the dog. If the boys can handle the dog it can sleep with them in tent for "security" or in camper where they are more likely to alert you of unexpected visitors.
Bears make me think everyone inside is better. Dogs will protect the pups in a pack against animals way too big for them to handle and dogs really annoy bears. Some areas bears are hunted using dogs to follow and tree the bear.
Dogs make for cozy sleeping. Wife at 5'7 and 105 pounds and myself 6'1" 230 lbs. plus two dogs (35 -43 lbs.) in the smaller rear dinette bed of the pre-fire scamp
13 ft. it was cozy but always seemed to get a good nights sleep as long as it wasn't too hot. Dogs wake up to pant hard for a few minutes to cool down throughout the night. Seemed to favor panting in ones ear. They would favor the front couch and its big window if it was hot. Or while activities were taking place since there really isn't much floor space in a 13 ft. Not for two adults and two dogs.
The 16 ft. body of the 19 ft. 5ver has more floor space than a 13 but a dog and two people would crowd it. We have a 16 ft. now and there is more space but a couple of dogs or a bigger dog will really need to get parked and stay if people are making a bed or preparing food.