As you've pointed out, you're both retired and have, so far, traveled together and both made concessions to the other's interests. I know this might be a weird idea, but why don't you go do things that you want to do by yourself. No more compromises, just do what you want to do.
I travel by myself all the time, and the freedom to do what I want, when I want and where I want is precious to me. When I traveled for work, I learned to hate hotel rooms and eating by myself in restaurants. With the RV, you can go where you want, eat what you like, when you like and do what you like. I'd bet that there are a few places that you've always wanted to visit but held no interest for your wife. At least try it once. If you don't like it, you can still find a friend to travel with.