Texas vehicle have to be inspected every year before you can renew the registration whish is true. But all you have to do is submit an "out of state" form that you can get from your county clerk office sent to you. You fill it out and send it in with your registration paper work. It's that simple. And it can be all done online these days. As far as to having a special drivers license, that only pertains to those of you that have those really large diesel pusher motor homes with air brakes. Has to do with the weight of the rig also.
The other thing to consider is the cost of insurance where your home domicile is located. If you use the Escapee Headquarters in Livingston, Texas as you domicile, your rates are going to tired the rates of Houston, Tx which are really high. Just somethings to consider. I'm an Escapee member and have been out here full-timing for a couple of years now. I maintain my domicile at my son's house in a small town in Texas.