Really, with all your concerns and 'what ifs', it would be wise for you to consult an attorney. Every full-timer has different circumstances so no one answer will fit all and some of it is heresay. This is especially true if you're still working and have property.
As far as actually staying in the state for a period of time that you're domiciled - you don't have to unless you're required to go back for the driver's license, etc. and then only until you get that done, then you're free to leave. Don't choose a state thinking you have to stay there. Full-timers typically do not stay in their state of domicile. They travel.