Theres a camper for everyone out there it's just finding it. Probably from what you describe a Cub could be the go. They have models with internal kitchens. They are in Pendle Hill and have a pretty good web site. The soft floors have there kitchens either as slide ins or on the tail gate.
When looking Mrs Bravo and I went to a few Camping/Caravan Shows where there were lots of brands to compare.
Good luck looking