We are a family of 5 that own a Lifestyle walkthru with a 12ft tent. We fit in easily with plenty of room to spare.
The kids sleep on stretchers with 4WD mats on top, still very easy access to the walkway and door and room enough on the floor to sit and play a board game.
End of last year we went from Sydney up to Proserpine in three days, so we were driving long stretches before pulling into camp late at night. Alot of the free overnight stops simply werent suitable for soft floor campers. Setup time isnt an issue if you are only setting up the tent, no annex. We ate out for breakfast and dinner so no real need for the kitchen but had we needed it and the weather was no good then we would have had to spend an extra 20mins setting up the annex. For lunch we pulled over and made our own, we have a Drifta DPOR, so we just made sure that we had everything we needed to make lunch in the draw section and left the main area pack away. Fridge travels in walkway, fine for longer trips where we move it to sit under the annex but for touring we will need to invest in a fridge slide.
The camper works well for us, but after our QLD trip I decided that if we start touring regularly then our current camper would not meet our needs.
Parents have a forward fold, when we borrowed it for an overnighter found it cramped and uncomfortable the moment we had to change the lounge area into a bed, okay occasionally but wouldn't want to do it permanently.