Dear Ron:
Yes, I think you make the C-22 work.
You could have the kids sleep in the V-berth (typically, they love that!), and the parents in the cabin (on the double bed)...or vice versa. Or, you could have the kids sleep on the bunk beds. Or, you could make up beds on opposite sides of the aisle (with the potti in the aisle for all to use). The last arrangement would be the easiest, for setup. Then, of course, as others have suggested, one can sleep in the aisle, and (with the camper back), one or two can sleep in the cockpit.
Cordially, Wayne