I'll give my view:
We had an Eagle. Was comfortable, did what we wanted but was a pain to set up if we were touring and we got caught in a bit of a storm that put the heebee geebies up me.
I always thought we would progress to an expanda. BUT - You still have canvas ends, the ends need to be folded up and down on arrival, the bed needs to be unmade and remade at every stop, the beds have a join in them which I found uncomfortable. We felt, for our wants, that the expanda would not really solve our issues.
We decided on a pop top, 17 footer. It has a shower/toilet and a full size bed that is always made up. It is pretty much perfect for us.
Look, I'm not saying that the expanda is not a top piece of kit because, quite frankly, I think they are fantastic. But for us (couple, no kids) we felt the pop top was a better fit. If you need more beds then the expanda would suit better. If you want to go a bit further off road then an Eagle or Swan, etc. If you want to go extreme off road then a KK or whatever.
YOU are the only one that can make the decision as to what suits you.
If you think you know which direction you want to go but not positive, then hie one for a weekend or week and see how you go.
I've heard it said that it will take three incarnations of your van/camper set-up until you get it right. That is exactly the number it took for us.