We're not "Rich" but we do travel a lot and use every mode available, we took the DGKs to the Galapagos and Amazonia, eight days in the islands and seven days on the continent. Cost a few years back was $20K. In contrast, ten weeks in the MoHo going to 37 states and seven Canadian Provence's was less than half of that. That included overhauling the furnace back in Elkhart.
My point is, our budget allows for these things and I don't even know what the costs are unless someone asks the DW and I overhear the answer. It is our lifestyle and we enjoy going there to do that and buy the T shirts. It's hard to quantify the costs for RVing as we all are a little different and go for so many reasons, only fuel and camping can really be estimated. The rest of the costs are costs that you incur living at home.
Buy the rig, fill the tank and turn the key, then go and make memories.