Let me play devil's advocate a little. How close are you now to contributing the max to your 401K - that's 23,000 each if you are both over 50? If you are close, you will not be able to add much by reducing your living expenses, though you will be able to invest in other non-tax advantaged opportunities which can be useful since it will allow you to reduce how much you take out of your taxable 401Ks after retirement, reducing you post-retirement tax load. I will assume your home is worth less now than it was 8 years ago so hanging on to it a while longer may be useful. Financially you may or may not be better off without the house.
It sounds like both of you are professionals. Working, and getting ready for work, from an RV will be more stressful than a home with large bedrooms and double sinks in the bathroom or even separate bathrooms. I am not familiar with your RV but I would imagine its bathroom will fit in the shower area of you bathroom at home. Try it in the RV for a month to see if you can survive getting ready in the morning. You may find that is more stressful than what you are experiencing now. :B As professional, you also require many more clothes than what most RVs will handle and their maintenance has to be considered as well.
Now if you sell the house and your current RV and purchase a 45 foot DP with two baths, etc., you may find it more doable but I cannot imagine the two of us getting ready for work in the morning in our 1½ bath 40 footer. Enjoying an RV while relaxing and working from it are two entirely different things.
Just a couple of items to think about.