We RV pretty much exactly how you plan to and for the same reasons. We like to roadtrip, we were tired finding hotels from the road when ready to stop that accepted two large dogs (although that has gotten easier with smart phones and more hotel chains seeming open to it), and then dragging ALL our stuff inside for the night and back out in the morning (these hotels were typically not the nicest and not in the nicest areas - by the highway - and I've had enough experience with break-ins in my life).
We like to visit state/national parks. We went a little shorter (25'9") to mostly eliminate any concern about our size or need for a toad. We have a car we can tow, just haven't set it up since we usually take 2-3 week loop trips and are always on the move. A toad would be nice for going to one place to explore in more depth.
The first time we rented a C, I thought we were "too young" to really get into the RV thing (at 29). Nope. Totally hooked and started saving to buy our own, which we did. Having a bathroom on board always strikes us as SUCH a luxury. Having a rolling home (with AC, if needed) for our dogs gives us peace of mind and makes everything more fun. We always expect when we get home from three weeks of them being on leashes nearly 100% of the time, they will be excited to run free in their fairly large yard. Nope, they don't want to get out of the RV. :)
Having an RV has probably exceeded our expectations. The only problem is not having enough time to use it as much as we'd like!