We're shooting to be debt free by the end of this year (crossing fingers).  We've made countless $$$ mistakes and are just correcting these the best we can now.  This has all been an expensive lesson is the importance of being debt free.
Purchasing a used, in dire need of repairs, travel trailer was our way of getting an RV without going into further debt.  It is possible to get into an RV and travel inexpensively with a family, but concessions need to be made.  We're going to Washington DC in a few weeks for 3 days for around $100 ($48 campground, $50 fuel), but are foregoing all of the luxuries and sticking to free sites and activities.