I wouldn't do it. Parking will be impossible.
I left my Excursion and borrowed a car last year because no garages could assure me of a space over 7ft high.
Tight areas, lots of parking and fees everywhere.
Better would be to take your RV to one of the outer Metro stops and spend your "gas money" on the Metro. You'll get to more places with less hassle (most of the time) and not have the stress of commuting in a strange and un-traffic-friendly city.
Anything can be done, but I wouldn't consider it leisurely.
Of course, I understand an RV. Hotels are $$$$