Class B motorhomes are very popular thanks to the fact that they drive very much like a traditional full-size van.

This makes them very appealing to couples and small families. There are a lot of camper vans models that sleep two and even three people.

Though there are only a handful of Class B RVs that can truly sleep a family of four comfortably. If you need a compact motorhome that can sleep the whole family might be wondering, what are some of the best Class B motorhomes for a family of four?

The Roadtrek – Zion Slumber is one of the best Class B camper vans that can sleep 4. Though it’s not the only model on the market worth your hard-earned dollars.

So, we decided it was time to wade through the crowded field of campervans to find the best Class B motorhomes that can comfortably sleep a small family of four. 

Best Class B Motorhomes To Sleep Four People

5 Best Class B Motorhomes For Family Of 4

We went on a mission to find the best Class B motorhomes with 4 person sleeping capacity.

This included looking for models that showed off thoughtful engineering, and innovation as well as the kind of convenience features that matter to families.  

Here are the 5 of the best Class B RVs that can sleep a family of four without sacrificing comfort and functionality:

  • Winnebago Solis 59PX Class B RV
  • Pleasure Way Tofino Class B Gas Motorhome
  • Roadtrek Zion Slumber Class B 
  • Fleetwood Irok FSD Class B Van
  • Pleasure way Ontour 2.2 Class B Motorhome

1. The Winnebago – Solis 59PX

  • Engine Pentastar VVT / V6
  • Length 21 ft. 
  • Towing Capacity of 7,716 lbs.
  • GVWR of 9,350 lbs.
  • Total Fresh Water Tank Capacity of 21.0 gallons 
  • Total Gray Water Tank Capacity of 20.0 gallons
  • 13,500 BTU Air Conditioner
  • 3 Gallon Hot Water Heater

The Winnebago – Solis 59PX is a Class B motorhome has the ability to sleep a family of four to its a pop-up roof.

This provides a lot more headroom as well as additional sleeping space.

Another great advantage of the Winnebago – Solis 59PX’s roof is that if you park it thoughtfully, you can also take advantage of the natural airflow, which can be a big deal when you sleep four people in a Class B campervan. 

The rear of the Winnebago – Solis 59PX is impressive with its engineering innovation.

The sleeping area can be used to sleep two separate people or engage a murphy bed to sleep a couple. Under the bed, there is a cargo hatch that offers a lot of extra storage. 

One of the tradeoffs in the floorplan is that you usually have to accept a smaller bathroom. You see this with the wet bath installed at midship in the Winnebago – Solis 59PX.

If there is a complaint here, it’s that the hot water heater has a 3-gallon tank, which is a little on the small side for bathing four people in a night.

If every one of you needs to wash up with hot water at the end of the day, you might want to consider swapping it out for a tankless water heater. 

2. Pleasure-Way – Tofino

  • Engine Pentastar VVT / V6
  • Length 17′ 9″ 
  • GVWR of 8,550 lbs.
  • Total Fresh Water Tank Capacity of 16.0 gallons 
  • Total Gray Water Tank Capacity of 8.0 gallons
  • 11,500 BTU Air Conditioner
  • Tankless Hot Water Heater

The Pleasure-Way – Tofino is one of the most innovative Class B RVs that can accommodate four people. It’s even more impressive when you consider that this campervan only measures in at a compact 17.9 feet long, yet it still has a popup section that increasing the sleeping capacity. 

The manual sofa in the back also helps lead up to the pop-up sleeping area.

When expanded it allows for great airflow, which matters a lot when you are sleeping in an upper bunk. The sofa then converts into a full-size bed. 

One of the other ways that the Pleasure-Way – Tofino does a great job of accommodating a small family is by installing a tankless water heater. This solves a common problem in Class B motorhomes by giving every member of the family access to on-demand hot water. 

You might also appreciate that it has an induction stove in the midship kitchen. This translates to faster cooking times and less heat going into the interior of the campervan.

Not only is this innovative, but it helps reduce the uncomfortable heat buildup that can be a problem in a lot of Class B motorhomes with an upper bunk area. 

3. Roadtrek – Zion Slumber Base

  • Engine Pentastar VVT / V6
  • Length 20’9″
  • GVWR of 9,350 lbs.
  • Payload Capacity of 1,500 lbs.
  • Towing Capacity of 2,000 lbs.
  • Total Fresh Water Tank Capacity of 37.0 gallons 
  • Total Gray Water Tank Capacity of 14 gallons
  • Total Black Water Tank Capacity of 8.5 gallons
  • Sleeps up to 5 people
  • 13,500 BTU Air Conditioner
  • 16,000 BTU furnace

The Roadtrek – Zion Slumber Base is a rare Class B motorhome that can sleep up to 5 people. This is thanks in large part to the popup roof section that essentially transforms into an air airy, comfortable bunk room. 

The interior of the Roadtrek – Zion Slumber includes a comfortable master bed in the rear. If necessary, it can be split into two single beds with a modest dinette table between them.

There’s also a large wardrobe nearby to let everyone in the family store their clothes out of sight. One of the nice, yet understated things about the Roadtrek – Zion Slumber is the 16,000 BTU built-in furnace.

You don’t see this in a lot of Class B RVs this size, which usually rely on the campervan’s engine to supply ambient heat. With a furnace installed the family can stay warm and toasty throughout a cool summer night or a fall camping trip. It’s an especially big deal for the people who sleep in the upper pop-up section. 

4. The Fleetwood – Irok FSD

  • Engine Pentastar VVT / V6
  • Length 21 ft. 
  • GVWR of 9,350 lbs.
  • Total Fresh Water Tank Capacity of 28 gallons 
  • Total Gray Water Tank Capacity of 18 gallons
  • Total Black Water Tank Capacity of 15 gallons
  • Sleeps up to 4 people
  • 13,500 BTU Air Conditioner

The Fleetwood – Irok FSD uses a series of long couches in the back to boost the overall sleeping capacity of this 21-foot long Class B motorhome to be able to comfortably sleep up to four people. The couch configuration also makes it easy to let the family spread out while you travel.

This will let kids play games in the back or take a nap without having to make any significant changes to the interior layout while you are on the road. One of the other things about the Fleetwood – Irok FSD that is appealing to families is the relatively spacious wet bath.

It’s bigger than you find in a lot of Class B motorhomes that can sleep, four people. It’s supported by large 28-gallon freshwater storage tanks as well as 18-gallon gray water and a 15-gallon black water tank. On paper, this kind of water storage capacity might not seem like a big deal.

Though when you consider the water usage of an average family of four, it means you don’t have to conserve water quite as strictly. You have less risk of running out of water in the middle of the night if you want to take this Class B motorhome boondocking for a day or two.  

5. pleasure way ontour 2.2 Class B Motorhome

  • Engine 3.5L EcoBoost® V6
  • Length 21. 9 ft. 
  • GVWR of 10,360lbs.
  • Total Fresh Water Tank Capacity of 28 gallons 
  • Total Gray Water Tank Capacity of 15 gallons
  • Total Black Water Tank Capacity of 11 gallons
  • Sleeps up to 4 people

The Ontour 2.2 pushes the limits of what can be classified as a Class B motorhome, which gives it the ability to accommodate a family of four. Yet it doesn’t have to rely on a popup roof compartment to create more sleeping space. 

Something else you might like about Ontour 2.2 is the way the rear sofa transforms into a queen-size bed. This might make Ontour 2.2 one of the best Class B motorhomes that sleeps four people and provides a true master bed to sleep both parents comfortably.

The TV in the rear is also positioned in such a way that the entire family of four can snuggle up to watch a movie and no one will be stuck watching at an awkward angle. 

You can also appreciate that there is a sink in the kitchen as well as in the bathroom.

This is a big deal for some families. Especially those with young children who need to be reminded to always wash their hands after eating and using the bathroom. 

Frequently Asked Questions

Are Class B Motorhomes With Popup Roof Sections Prone To Leaking?

A lot of Class B motorhomes that can sleep up to four people rely on a popup or expanding roof section to produce enough bed space for everyone.

This does increase the risk of roof leaks as the motorhome ages. Proper winterization and storing your motorhome inside will go a long way toward preserving the seals and the integrity of the canvas in the rooftop sleeping section.

How Big Of A Fresh Water Storage Tank Do I Need For A Family Of Four?

Family’s use more water than singles or couples. This can be a recurring problem for a family of four in a Class B motorhome as campervans tend to have sparse water storage tanks.

The average adult will use around 5 to 7 gallons of water per day, and children tend to be in the neighborhood of 3 to 4 gallons per day.

This means a family of two adults and two children will need at least 16 gallons of fresh water storage per day. With 20 gallons being a more comfortable volume while still conserving water. 

If you want to boondock away from the resources of an RV park, you can get by with an Aquatainer or other water storage container to extend your water supply.

Just be mindful of how much additional water you are putting into the system and how it relates to the capacity of the gray and black water storage tanks. 

Are Rooftop Bunks Comfortable

The biggest issue with a rooftop sleeping space in a Class B motorhome is temperature control.

During the summer, heat from cooking and the sun beaming on the exterior of the motorhome can start to build up in the upper sleeping area, which can make it an uncomfortable place to sleep on a hot night.

Things like induction cooktops, keeping the rooftop hatch closed during the day, and parking in the shade will go a long way toward minimizing the heat that builds up in the rooftop bunkhouse. 


There aren’t a lot of Class B motorhomes that can sleep up to four people.

So, being thoughtful about the features you prioritize will go a long way toward making sure everyone in the family is comfortable. 

If you want to sleep the entire family comfortably a model with a popup roof section like the Roadtrek – Zion Slumber and the Fleetwood – Irok FSD might be the best Class B motorhome that can sleep four people to meet your needs.

Both have large, airy upper sleeping areas, as well as the water storage capacity to support a family of four for a full day or more of boondocking. 

If you aren’t comfortable with the potential long-term leaking issues and thermal inefficiency of an expandable roof section, then Ontour 2.2 might be the best Class B motorhome to sleep, four people.

It certainly has a lot of innovation, paired with superior material build quality. If you work directly with the manufacturer on a new model, they can offer some interesting optional extras to customize it to your family’s travel style.