This Cross trail has a large queen bed. Despite not having slides, there is a fairly large cargo area in the back made possible by a bed that folds up and out of the way. Getting to that storage is made easy by a half-height door in the very back.
From there you could easily load a kayak, a couple of bicycles, or any number of things that make your adventures more adventurous.
This large cargo area is also nifty in that it's within the body of the motorhome. So you could load two bikes back there and they would be away from prying eyes plus out of the weather.