We have a 26' Born Free "Mobility RV" that was custom-built to accommodate my wife's disability. Because we put the platform lift on the rear doors, we can't tow any vehicle -- so we use the coach for all our mid-trip travels and sightseeing -- even in big cities (DFW, Lexington, Philly, ATL, etc.).
It's like driving a UPS parcel car or FedEx van. As long as you're comfortable driving it in traffic and can find suitable parking, you're good to go.
For city parking, we usually find an open air parking lot or the one-time miracle of an appropriately sized parallel parking space just before a driveway!