Lupus

Really look at a class C or A motor home. Set up is very simple on the days you do not feel good(register and turn the ignition off). Bathroom stops are also much simpler(park and walk to the back).
My wife is paraplegic and we travel the western US about half the year. Go west and you will have the long windshield views. In the east the trees next to the rode are limiting

pops

I just have the arthritis and muscle weakness in the legs so walking is out for very far. I use my walker to hookup the MH in the CG for elec. water & sewer. I carry a scooter in the back of the Vue for walking sites. Jacks make levelling a MH an inside job of pushing a button. DW & I have it down pretty good. I will get some lookers while hooking up and sometimes some come and offer assistance when they see we are all set up. Go for it and enjoy yourself.

Personally being out in the forest or visiting a new city is so much better than staying at home. I use a wheelchair due to an accident and never have a pain free day but it's easier to ignore that when there are other distractions. Before you make an decisions about the type of RV to buy go to a large dealer and try them all. That will give you a better idea of what's best for you. Good luck!

My cousin died of lupus at age 19 and my uncle, her father, in his 50's. Both lived active lives. Your RA is probably complicating things for you, but don't let it stop you. After a bad accident, I'm lucky I can still walk, but use wheel chair or elec. scooter if an activity involves a lot of walking (like going to the mall). I can't say that I am more comfortable in my MH than I am ay home, but we like to travel, and the MH sure is a lot more enjoyable than staying at home.

The way I look at it is I can be miserable at home looking at the same stuff I've looked at for 25 years or I can be miserable in the 5th wheel looking at new and beautiful scenery.

Being in fresh air, beautiful locations, hiking trails makes you feel better and encourages you to get out and do something. Staying at home you're stuck in the same old routine.

Motorhome maybe a better choice, less to do than a 5th wheel. But the newer 5th wheels with auto levelers and awnings are nearly as easy as a 5th wheel.

You might want to rent an RV acouple of times just to see how you do, before buying one.