We did once for a few weeks out of necessity. When we bought our Motorhome we were out of town visiting family. My in-laws agreed to drive our minivan home when they came to visit a few weeks later so we could all drive home together in the Motorhome.
Our Xterra broke down the day after we got home with the Motorhome. It was too darn hot to fix the Xterra so we just drove the Motorhome for a few weeks. It worked out well, but I wouldn't want to do it long term. Ours is a 32' Class C. If it were a small C it might not have been as big a hassle.
-Michael