I always thought a good idea would be to buy 3 or 4 lots around the country in places you enjoy spending time, (Mountains, beach area, desert etc)
Build a simple structure such as a metal building big enough to park the RV inside and do the minimum to make it legal for the area.
This way you can come and go as you like, park inside out of the weather, have room for extra storage and it would be easy to "weatherize" and should be pretty secure.
Guess this could be semi "full timing" but less maintenance and maybe cost vs having a big house.
You would also have investments and equity and if you ever tire of travelling, build a house on the one you like.
This may also be something you could do as a business. Probably a lot of RVers that would be interested in a "turn key" lot/building.