You definitely can't base health insurance in any of your planning right now. Look at all the changes in the past two years and lots of increases if you have to buy your own. Full-timers now who are not on Medicare are really running into lots of problems. You just don't know what the future will hold in that respect, unfortunately.
This doesn't mean that you have to give up your dream of full-timing. I'd just recommend that you save as much as you can now and not be in any kind of debt when you begin full-timing.
You state you want to travel a decade. Are you planning to let your house sit during that time or rent it out? The house will need care during that time so that will be another added expense.
Full-timing is an awesome experience and lifestyle. We hope you can do it but I think all of us are trying to bring up things that perhaps you haven't thought about so there are no surprises.
Also keep in mind that volunteering in the national or state parks is a great thing. It gives you purpose and you'll know that it really does help out. The parks are so appreciative. It will also give you a free campsite. How many folks can say they've actually lived in Yellowstone? It's not like a 'job'. Don't rule it out for a couple months a year. It gives you a chance to really explore the park and the surrounding area. We loved doing it occasionally. There are many different opportunities if you don't want to be camp host. If you're mechanically-minded or a photographer or would enjoy interpretative gigs, the positions are out there. We specialized in giving lighthouse tours in different places - a fun gig. :)