If it were me, I would probably go back in with Ensolite. The reasons I'm not too fond of the quilted stuff:
1) It normally does not fit tight to the walls, so you have pockets for air/moisture/mold to build up.
2) It's usually backed with open-celled foam, which absorbs moisture and then you're back to the air/moisture/mold potential
3) Dirt/whatnot tends to accumulate in those little "sewn" areas of the quilting, making it more of a pain to clean than a smoother surface.
Yeah, I've lived with this type of product in a boat before
In contrast, Ensolite is closed cell foam (cannot absorb moisture), and glues up pretty tight to the trailer shell. The original Ensolite that was in Bolers, etc. had an off-white vinyl skin bonded to it on the "room" side, but I have not found that available anywhere. You can, however, purchase the "raw" Ensolite from places such as IR Foam Specialty, and people here on the forum have painted it with good success. It wouldn't seem like something you could paint
, but apparently you can.
The original Ensolite in the Bolers was 3/16" thick (I have read), but I think you could probably go up to 1/4" or maybe even 5/16' if you wanted more R-value.
When I was looking at a trailer that needed Ensolite, I had IR send me samples of 3/8" thick Ensolite, and I think that was a bit too thick (they also have different densities (squishiness).