We had a 17 LibDeluxe, with a foam topper, which we would roll up and secure with sleeping bag straps as kind of a giant "Tootsie Roll" against the rear wall to serve as a backrest (12" diameter.) I had made 3 separate drop-in boards for between the benches; removing the one nearest the bath gave us room to use a small REI aluminum table to eat.
It worked fine for 3-4 day trips with 2 small dogs, but a month long road trip convinced us that we needed more room. Just too much hassle to deal with the bed issue every day. If you leave the bed down all the time there is no room, and with 2 dogs the sheets will be filled with footprints/dirt.
It just felt really crowded when stuck with bad weather for more than a day or two.
, looked at an Escape
19, but decided to go with an Escape
21 due to the extra 6 inches wider. Way better with a separate permanent bed that's 80 inches long!