Class B decision
Just like everything else, quality varies from manufacturer to manufaturer, model to model, year to year, and even, sometimes, unit to unit.
2 people and 2 dogs in a class B sounds pretty cramped. How long of trips are you planning?
'2nd vehicle' usage and decent gas mileage are a couple of the best features of the class B. However, parking 'easily' could be a pipe dream. Class B's are not very wide, so often make up space by being long. Long = hard to park. But at least you usually only need one space...
There are 2 types of class B. The most common is standard width. You can get one complete from several companies, or you can have one custom built by Sportsmobile. The advantages of the latter course of action is the base van is your favorite brand and they have a pop-top option which greatly reduces the cramp factor without increasing the top heaviness, wind resistance or storage difficulty. Besides, they seem to be cheaper than many of the premades, and you can have any layout you can dream up.
The other is a wide body, sometimes called a class B/C. These are less cramped than standard width, but harder to find. I like the Winnabago Rialta layouts, and as far as I know, the Volkswagon chassis is good, unlike the Renalt chassis they started with. Quite pricey, though.