You seem to have realistic expectations. Have the engine cooling system, brakes, including front flex lines and fluid change , compression, transmission and steering/suspension checked and get estimates on replacements/repairs needed to make a decision to buy or not. Make sure that RV generator and converter charger, fridge and dash and roof AC are working properly and no water leak damage. Check awning fabric. If tires are over 4 years old by imprinted date codes, they'll need to be replaced for the safety of your rig and your safety.
An old rig can cost $10K+ in repairs the first year to get it fully usable for touring and camping not to mention delays/problems on the road.