The question "how much does it cost to be full time" has been asked/answered on this section and on other forums numerous times. Which IMHO has a direct bearing on any escape plan.
Some folks may sell their home and invest the money, some may sell their home and use the proceeds to buy new RV's, diesel truck, or whatever. Some may be able to keep their homes and still own RV's without making payments.
The bottom line for us was that we wanted to travel when and where the mood took us. The first thing we noticed was that we had about 40% of our money left over every month!
If you start out debt free an escape plan will kind of take care of itself.