Problem I have with motor homes is if they break down, you're towing your home to the shop, then have to find/pay for lodging. Just something to consider.
I like 5th wheels for their storage. Rarely will you find a TT of the same length to have comparable storage.
But I choose TTs because I don't want to lose the storage in the bed of my truck. I bring stuff that won't fit in either a 5th wheelers or TTs storage compartments.
Initially, towing may be easier Ina. 5er, but once you're used to it, towing either is easy in my opinion.
I agree that the steps on a 5er could become problematic if you have knee injuries.
If you could borrow a capable truck, I'd say rent one of each first. Otherwise, the RV shows are the best way to see what you think you'll like.