DINK = Double Income No Kids
I would suggest that you start looking at various RVs. Take notes as to what you like in each and what you don't. Look at floorplans, what is involved in setting it up at camp, etc. Be specific in your notes.
At the same time, start writing down where you know you want to go. Check those locations and find out if there are limitations on what is allowed (e.g., length, hybrid, drive-ability, etc.).
Then you can start comparing your notes to find what will work best for you. Put more emphasis on what you will use it for the most. If you'll be taking 20 weekend trips and one 2-week trip per year, then put more emphasis on the weekend trips - it's better to be a bit squished for 2 weeks a year, than to not fit in the local campgrounds. On the flipside, if you're going to be living in it for 2 months at a time, 3 times a year, then the extra living space will be of more concern. This is where you have to listen to your own self and not strangers on a forum - because what you need and want, and how you use it, will be different that anyone else.
Also, go test drive some trucks. Make sure you'll be comfortable driving it around town before you commit to it being your daily driver.
I will say that using a large pickup to drive aging parents around is probably going to be very difficult. If they have health issues (bad knees, breathing issues, mobility, etc.), climbing up into the cab is going to be awkward if not impossible.