Driveway campouts are great. My dogs love the "different" view of the neighborhood they get by sitting in the cab seats looking out. :)
Another benefit you might find with the RV is for day trips. You can take rests during the day, have lunch on hand, etc. With your husband's condition, it might be of help if he gets nervous - he can take a nap, watch a movie, etc. And you don't necessarily have to pack up and go home. I went out on a day trip this weekend and took my regular vehicle. Throughout the day, I kept thinking "if I had the clipper, I could have done this instead".