That sounds like a wonderful vacation!
Etiquette is far less complicated than it sometimes appears here. Basically, if you act respectfully towards the other campers, you'll be doing very well...which means such things as avoiding loud noises during quiet hours, not walking through other occupied sites, driving at reasonable (slow) speeds through the campground, and those sorts of common-sense things.
There's nothing wrong at all with taking the motorhome to leave and drive around for awhile. Setting up and tearing down camp can be a bit of a hassle, lessened by not setting up more than you need. (It's things like clearing off the counters and stowing junk properly that I find the most annoying in these sorts of situations; if you try to keep unnecessary odds and ends to a minimum, and put things away when you're done using them, it'll help.)
I recommend putting together some sort of a checklist for breaking camp to be sure you don't forget to do something. When you discover something that you forget to do, add it to the checklist for the next times.