Done it a lot with my old Class A towing my toys. There is a lot to do to do it right.
Always get a tide chart before going in,try to go at low tide and drive on the hard pack to where you want to go, then park as far from the High tide mark as you can get. Getting stuck is almost a fact of life there. I found early on that it was expensive to get out but there is a way around it and not near as costly.
As you go in there will be a few tow trucks there, they are now regulated,not like the old days, and you can have them take you in and out for a lot less than it would cost to get you out. If you have a group they will negotiate a better deal. They will also make sure that you are high enough above the high tide.
The creek going in is also a problem it sometimes will be dry going in and raging later, another plus in having the contract with the tow guys, they will get you out.
In a motor home it is really a bit of a pain, you will see mostly 4X4 trucks towing Toy Boxes that are set up for that kind of travel.
It can be done if you are adventurous, like I said I use to do it in a Class A towing all my toys.I now I have a Class C and no toys but if I go to Pismo I will stay at the State Beach that is in walking distance of the dunes.
On Edit: after looking at your profile that shows your rig I would NOT try it.