"We could sell everything today and not miss one brick. Q: What about our end game? Will we be ready financially to buy/rent that small condo when I can no longer drive? "
If you own the house outright then there is no problem. Keep it and lease it out or sell it and buy something else with the proceeds that suits your end game vision, or take the money and stick it in a low risk investment.
Is the rv tech path because you have always wanted to do that or just more of a logistics thing in that you'll pretty much be near rvs so works should be easy to nab?