Well my wife and I never camped when younger, we bought our motorhome planning on a ten year experience. We are a long way from being rich, we collect SS and I have a modest retirement. We raised our family of 3, had a very nice living while working(not exuberant) we both worked.
I retired in 2006 and we hit the road in a very nice used Beaver Patriot. We have spent the summer in Alaska and the winter in Mexico. We have traveled this beautiful country of our from east to west to north to south. It has been 10 years and we have purchased a place in Yuma, Az. to call home. The last 10 years we fulltimed, but now we plan to sell the Beaver as we will have a house once again to live in. We are not giving up traveling just going to down size the RV. Rich....NO WAY. Willing to do what it takes to live the RV life...absolutely. We have hosted in several Nat'l Parks for a free site and now working in Texas. We will retire again in 2015 go to Yuma, Az. to live and still keep a smaller RV to travel in. I have a host of pictures and memories. We loved our fulltime life style.
You do not have to be rich just willing to do whatever to keep going.