With all due respect, your dream is just not practical. You will be hard pressed to find any motorhome with sleeping capacity and seat belts for 10 people. Then where will everyone store their belongings? I can't imagine any RV have storage capacity to support 10 people. Then the fresh water and holding tank capacity will only support 10 people for less than 24 hours!
Now moving onto the finances. $30,000 will not buy you any motorhome or even a trailer and tow vehicle that will not need some repairs soon, which can be very very expensive. Even if you found a RV tow vehicle or motorhome within your budget, you will need at least $5,000 and preferably $10,000 as an emergency fund.
IF I were you I would rethink this plan.