Monetarily, I would never consider myself rich. According to national statistics, I make a wage that is above average for the "average" household. Are there THINGS that I desire to possess? Certainly! But, I currently WANT for nothing and I have many things that I do not NEED to survive. Does that make me rich? Probably so in many people's eyes when they consider the things that I have that they do not. I have made choices, though, that perhaps they have not....things like taking on debt obligations to get those THINGS that they do not have. I have worked for the past 30 years or so to gain what little I have and as I near the age that I can finally retire, I intend on getting out to enjoy some of the spoils of my labor.
In terms of my life? I am rich beyond measure! I have my health (currently), an awesome wife who is my best friend and confidant, 4 rotten dogs, living parents who taught me actual values and not materialism, and a legacy of integrity to do the right thing for the right reason.
So..."Is a motorhome only for the rich?" I guess it all depends on your definition of rich......