For overnighters, the 22 would suit you much better. The R21 has a v-berth but not a convertible dinette and the cabin is a bit small. The CD 22 has the v-berth + a convertible dinette. It will sleep 3 quite well, especially if the 3rd one is not too large (e.g. over about 5' 10"). The only downside is that you can't eat at the table while the kid is sleeping on the converted dinette. Not a big issue when the kid is little but when they hit the teenage years, they're harder to get up at a decent time.