I would not worry so much about safety as the comparative effort of towing a trailer with a truck or driving a motorhome and towing a small vehicle behind it. Those are your two basic configurations.
The trailer will provide the most for your money. A $35K truck and a $30K travel trailer and you are on your way. Go for broke and you could spend $50k on a truck and get a $50k 5th wheel. You will save many thousands by buying a used trailer or used motorhome as they depreciate rapidly. Drive the motorhome off the dealers lot and by the time you get home its value will have decreased by 10%.
The motorhome is the simplest setup to get in and drive away. It is limited as to where you can park and so many people hook up a small vehicle to tow behind and then use that smaller and more fuel efficient vehicle to explore around the area where they are staying. Also in a breakdown with the motorhome you have a backup vehicle which is not the case with a breakdown of the truck towing a trailer which is not a good situation to be in.