Well Charm,
We are a couple that do what you are thinking about. We have done it with sailboats, cars with tents, the odd drag behind thing or two, and most classes of MH. And we have been doing it that way for forty odd years. In the last dozen years, we have not paid for a dozen campgrounds and other than rallies and special events (like the balloons in Albuquerque), and we have stayed two days in only about three places.
As has been said, there is no wrong way.
Actually, if there is a wrong way, it is to buy something new and take off in/on it. That is the charm of renting something. It makes a very solid way to find out what you don't like.
That is why we now have a antique mini-Class-A now. It is big enough for two of us and a 70# mutt, we know where everything is and what we do and don't have. It can get anyplace you might like to drive an big van.
Please note that this current RV was not the first and it took us a while to get to this. But, I will tell you it is a great way to travel. End of day means finding a more or less flat spot, adjusting the things so we are level (at least enough to cook and sleep), shutting the engine off and maybe closing some curtains. We know where meals will be and what they will be, who slept in the bed last and just exactly how clean the bathroom is.
Matt