I have a family of 5.8 (wife is due with daughter #4 in March), and 5 people is a LOT to have in the small space of a tear drop.
When we do the full family camp, we bring along a decent sized tent, and those who want to sleep in the camper do, those who don't get the tent.
Dad ends up in the tent regardless, even though he built the camper...
In another year or two I'll start on the next one, (already named "Whatever Comes Next") and then we will pull both. Makes more sense in our situation than cramming everyone into that tight of a space...