We are looking to sell our Thor Majestic 23A— we just recently drove it out from Iowa to Utah and then back to Maryland with no problems!
It sleeps 5, with a queen sized mattress in the back, queen sized sleep area over the cab, and booth that converts to a sleeping space for one more person. We upgraded the original mattress by adding a memory foam mattress topper, so it's a very comfortable in the back, and surprisingly roomy up top (could be used for storage in addition to the outside compartments).
Also has a fridge, full bathroom and sink/vanity, microwave, stovetop, functional AC/heating through the generator (which has 667 hours)
It is 25 feet long and 11 feet tall (25 feet is a sweet spot— any longer and some campsites/parks will not let you in for being too long).
It has around 160,000 miles, a Ford Triton 6.8L V10 engine, and will tow 5000 pounds. We just replaced the battery in May before our trip and had no problems! These can definitely go on for 400-500,000 miles with the proper care.