Marjorie and I (and two cats)have been living aboard our Endeavour 32 for a couple years at a marina. We have never felt like we needed more boat, even with the only quarter berth dedicated to kitty litter. (With a full length curtain and vigilance over the box, there are no smell problems.)
There is something interesting about how a boat can seem smaller in a marina than at anchor, as well. If the boat starts to seem small, we take it out to anchor and the problem is solved. I had a friend living aboard a Catalina 22 for a while(he was over six feet tall) with a bulldog without any worries about size. It all depends on your perspective and how you live your life. I find our 32 is perfect for us. We have plenty of space and Marjorie can still handle the (oversized) ground tackle by hand. The only thing I miss is a dedicated shower compartment…which doesn’t matter all that much since we have dockside facilities. I don’t miss it nearly enough to even consider another boat though.