I have had a Majestic 23A for 9 years now. It's a 2006, had 136,000 miles when I bought it in 2012, has 153,000 now. I've taken it to 5 different states, over 100 campgrounds and have had, up untill just recently, minimal issues.
I haven't taken mine off road but I have driven on some dicey roads. It has handled well and dust inside the rig has not been an issue. This year I have had some major repairs done to it such as headers and rear brakes. I'm also going to have to have the stairs repaired/replaced and the generator serviced soon. My goal is to get 10 years out of it and either buy a newer rig or get out of RV'ing.