We have been doing exactly what you propose and see numerous others in that age group doing the same all over the US and CA. No toad, but we rent a car for unusual circumstances, rarely.
Ignore the horror stories.
We previously had a wonderful Class B, loved it, but needed more space with acquisition of a big dog.
Just look at lots of layouts and makers and imagine yourself living in it. We have an Itasca Navion, and find the rear slide out queen bed to be comfortable, the living area spacious enough, reasonable storage for two, and more refrigerator/freezer space than we use. We can easily go five days without a dump station.
You can investigate solar options. We usually find electrical hookups but some people like to spend a lot of time off the grid out in the boonies.
Don't worry about finding campsites. Just book ahead if it is peak season, prime destination, weekend, holiday. Even then, there are many more places than you might imagine where you can stay, and sometimes you'll discover your own gems.