DW and have been full time for a 2 1/2 tears now in a 30 foot class C. Towing a jeep. We are throughly enjoying this great country. So yes it can be done, many will tell you a class C is too small, but DW and I make it work. With a 50 K budget you might be able to find a class A offering more room and storage. We don't have any pets. Would like to have a cat but unable to locate a suitable place for the cat box. I say go for it if I doesn't work out you can always sell the RV and go back to your townhouse. You only live once.
Good luck
Bill
