I have a 38’ 5er TH. All that your asking for above is going to make you limited to what you can get. Id personally get a 5er with the folks you want to sleep. Ive done it with mine and it gets a bit tight after 2 days. But most 5er TH’s dry weight are at your trucks max tow weight so thats not gonna do, so dont worry your not gonna come close to 36’. You can get a (bumper pull
) proper name is travel trailer, but your not too far off for max then either. Your also looking at some tightness in sleeping quarters and thats getting one with a rear bed up top. When You start adding slides to the rig (I recommend) then your adding weight then add your buggie then some fresh water and gear your getting up to or over max with your truck. Im assuming you have a 1/2 ton truck? I personally wouldn't advise it pulling a TH especially a 5er that your looking to get. Upgrade the truck first. There are threads here on this and lots of LubeTube videos showing you what were talking about here as well.
One thing to point out, an RV dealer will tell you that you can pull just about anything for the sale. There not always in the best interest of you.