We full-time and our length of stay depends on what is in the area to see. We love history, museums and off the wall local points of interest. We've stayed for a month at a time 3 times in 2 years. Otherwise, it may be 2-3 days or a week or more. We've often stopped somewhere, then extended our stay because we found so much to see or do, or planned several days then cut the stay short. Since we rarely make advance reservations except in high interest venues and around Holiday peak times, it's easy to be flexible. We do ALWAYS have a reservation at our next stop, but it may have been made that morning from the road. We also rarely travel more than 250 miles in a day and are almost always off the road by 3pm.
We DO typically stay in RV Campgrounds because most State and National Parks cannot accommodate a 43' 5ver Toy Hauler, and since our motorcycle riding is a major part of our lifestyle, being able to get the bike on and off is important to us. That's okay because we still visit every park and see what they have to offer anyway. Our feeling is we're at home every night regardless of where the rig is parked, and we do not consider our lifestyle camping - we are touring the USA at our speed and on our terms. We did our camping in tents with our boys in Scouting over the years - now we're living comfortably in our house on wheels, and Home is where we're parked that night. It took us 2 years to cover the east coast and New England, so we figure we've got many years to look forward to, plus there's a lot we have on our "go back because we missed it" list.
You didn't expand on your wife's concerns, but I'd sure suggest you get those addressed if you want this lifestyle to work for both of you. It has to be a joint venture. Good luck and have FUN! Life is good!!!!