has several models that could fit the bill. Be aware of several things, though.
(1) The main dinette bed is 45"x75". It's snug for two. There is a 54" "big bed" option, but only on the 13'er and deluxe models. It steals space from the galley and closet.
(2) The upper bunk is weight
limited to around 120#. That's based on a phone call to Scamp
, nothing in print, but it seems about right based on my experience.
(3) The 16' models can easily approach or exceed 2500# loaded with options and gear. If you stay fairly basic and pack lightly it might work. It'll be close.
We manage with four people in a 13'er. One adult and one kid in the rear bed sleeping in opposite directions, and one adult and one kid on the front bunks. We cook and eat mostly outside, but with beds stowed we can all comfortably eat or hang out inside if necessary. We stay in developed campgrounds with facilities (state parks, mostly), so the lack of bathroom has not been a problem.
Since you're from the Land of Scamp, you might consider a trip to the factory, where you can probably see several layouts and try them on for size. If that's not convenient, the Scamp sales department has a referral program in which they set you up with a local owner for a demo. Should be plenty in MN.