You might want to price out what the same trip would cost if you drove your car and stayed at motels. RV's get about 8 miles to the gallon and usually costs $125 every time you stop. For $125, you can stay at a great motel and often find places where kids stay free, and have pools. An RV will cost the rent, the gas, the campground fees and extra insurance.
But if your really interesting in camping, I don't know what kind of vehicle you have but towing a pop up might be an alternative. You can buy a nice used pop up and then sell it when you get home and not spend 14000.
I am a women and do all the driving of our Class C and it just takes a little more thought and after the first 100 miles you'll be an old hand at it.