31yo w/ husky-esque dog on a 27 footer (most of the year). At least part of it depends on how nimble you are. And also if you are planning on using the boat as a floating condo or more as a traveling kitchen/bedroom from which the rest of the world is your home.
is a "luxury" that I wouldn't want to do w/o. If you are near 6' and want standing headroom
, you will have to be more selective while looking under 30'.
I agree that an RV would certainly be less hassle if you're not planning on sailing. That way you can still be mobile, too.
All the best,