Yes, the 17A would be perfect; the front actually is a permanent bed. And you could probably get ETI to put just a toilet (no shower) in the wardrobe if you liked. Going from a tent trailer to this model will be a huge step in terms of ease of setting up for camping. I know.
2013 Escape 15A (April), "Egbert"
Ford 150 XLT 5.8L