Number 1 item - are the tires 7 years or older? If so, put on new tires now before one blows and causes damage to the coach (like the electrical system! don't ask) Tires don't care if they have been used or not, they still deteriorate.
Find a trustworthy mechanic and have all systems inspected, all fluids changed, brakes looked at too.
Find out if any of your appliances have recalls - especially the refrigerator - and make sure any outstanding work is done.
Just good preventative maintenance.
Have a $3-5 thousand dollar stash put aside for potential problems. Then GO FOR IT!!! A good place to visit for beginning rving is RV-Dreams.com Wonderful site and great folks.
We had a 91 Safari and took from Alabama to the Canadian Maritimes and back without issues. We spent about $2000 before the trip on inspections, etc. But it was a diesel - gas engine maintenance is a lot less expensive.