While the "high cost maintenance issue" on DP's gets a lot of attention, we're really just talking about a little more oil and some bigger filters. Yes, annual maintenance might cost $500 instead of $200 (if you do it yourself) but the five really isn't beans, not even 2 full tanks of diesel to keep her happy for another year.
As for the "A" vs fiver thing, it's more a question of attitude. A big fiver being pulled by a "450 class" pickup is a big rig plain and simple. A DP motorhome is more like a highway bus... Big yes, but also quiet and smooth. And a view out the windshield that cannot be beat.
As far as "going camping" we did a long trip in company with a buddy with a fiver (I drove a 36' gas motorhome, no toad than)
We would pull into each campground, do our paperwork, follow each other to our side by side campsites...
And I's level, slideout, hookup, get out my mats, awning, good chairs, mix a margarita, and be camping before he got his fiver levelled and unhooked from his truck.