Hi Alitroxell,
Welcome! As empty nesters, Laura and I are newbies and have only owned our used
Casita 17' FD since November and have only been camping since late March for a total of 4 trips and 20 nights in the
Casita. Despite researching RVs for a couple of years, be careful on any advice that I have!
With a 2nd child at some point in the future, a rig that sleeps four would be ideal.
How important is a bathroom? With 53 y/o bladders, Laura and I had to have a bathroom!!! We also had to have a dedicated bed. A place to sit in addition to the bed was a strong preference. Everything else was no big deal.
We love our
Casita, but in my opinion they are ideal rigs for one or two people and a 3rd person in a pinch. Unless modified, I don't think they are a good choice for four.
Scamps offer a wide variety of floorplans that can include sleeping for four, particularly if you don't want a bathroom, but it can still be done with a bathroom.
The
Escape 19' and 21' models would be wonderful for four, but you are looking at a 1.5 year waiting list for new and a near nonexistent supply used.
Speaking of used, I would recommend used. Find a solid used unit. You will save money, not take a depreciation hit, and can confirm your desire to camp without a major financial commitment.
Bigfoot 21' and 25' units would be super nice as well, but bigger means heavier, plus pricey. Do you have the tow capacity? Finding used is a challenge, but possible with patience.
I live less than two hours from the
Oliver plant. AMAZING rigs. A possible retirement rig for Laura and I in 9 years. Impossible to find used. Very pricey. IMO, not great rigs for four.
After nearly 2 years of research, I have a strong bias for fiberglass. My brother just bought a stickie. Nice, but not fiberglass!!!

The Riverside Retros are uber cool, but I would consider short and long-term durability as well as resale down the road.
In my humble opinion, I would recommend a used
Scamp 16' that could sleep four or used
Escape 19'.
Make sure that you have nice tow vehicle that can handle the
weight of the trailer you select.
Happy Hunting and keep us posted!
Take care,
Dean
P.S. - I was born in Kingston, NY and lived in Phoenicia, NY for a couple of years. I think Phoenicia and Woodstock are only about 10 miles away. Beautiful area!