A catamaran may be the way to go. Many catamarans, even some smaller, more affordable designs, can easily accommodate 4-5 people full time, as they have 3-4 cabins. One example is the Iroquois Mk II, which is a 30' four cabin design. Most of the ones in the USA came from the UK on their own hulls and are more than capable of doing ocean crossings. The Prout Snowgoose is another good example, and again, most of the ones here in the USA came over on their own hulls.
One major advantage of a multihull is that they are far more comfortable for full-time liveaboard use than most monohulls. Another is that they generally have a more manageable sailplan than a monohull of comparable living area.
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You know what the first rule of sailing is? ...Love. You can learn all the math in the 'verse, but you take
a boat to the sea you don't love, she'll shake you off just as sure as the turning of the worlds. Love keeps
her going when she oughta fall down, tells you she's hurting 'fore she keens. Makes her a home.
—Cpt. Mal Reynolds, Serenity (edited)
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Still—DON'T READ THAT POST AGAIN.