As a canoe camper I will say that camping and RVing are two different worlds.
When I camp I minimize the gear I am taking and ignore the inconveniences associated the camping adventure. With my Pop-up I of course have more conveniences but it is still more closely related to camping in that I must pack and unpack.
My RV is my house on wheels; if I need it, it is there. If I want lunch at a rest stop I open the frig and sit at the table. When traveling I may stop a bit early, eat, hike and sleep, then leave the next morning never having unhitched.
Two different worlds and I like them both. Each has its time and place.
The cost of convenience; 10 mpg.