Nessmuk the author from around 1900 came up with the idea of roughing it. He also talked a lot about smoothing it. That part of the conversation appear to have been lost.
Going on a raft trip can be very comfortable in the middle of no where with no one around. So can a trip with pack animals. Fresh food, furniture, wood stoves, and thick bed. I don't see where an RV is required to be comfortable or convenient. It is the easiest way if you are traveling by road. but then you can't get to the best places.