The liability-only policy on my Allegro (1984) is $360 per year. I'm in NJ where rates are typically pretty high, but all things considered I think that's a pretty good rate.
I second (or third, or whatever) the driveway camping idea. You get to learn how to operate everything with a fall-back plan (go into your house).
I don't know how you feel about driving a big vehicle, but when started driving mine last year I was pretty freaked out. I take mine to run errands occasionally to keep it exercised but also to increase my experience behind the wheel. I just have to make sure that wherever I'm going can accommodate a big truck (which is basically what you have).