Definitely do the driveway camping!!
Insurance - call around to various companies to get an idea, make sure to check with your own. Don't automatically skip comprehensive and collision - check the rates with and without - the cost to include that in mine is so low that it didn't make sense to skip it.
Also look into Roadside Assistance. The debate as to which program is the best is unending and in reality, they each have their "sweet spot" (the specific area where one excels and another fails). Your insurance may also provide emergency road service (as well as car rental) for a minimal cost (mine is $20.50 per year for both).
Along with the tires, get the RV checked out for fuel lines (propane and gas/diesel). Fuel leaks can be very dangerous and you don't want to be out and about with your grandkids with one (or more). Hoses deteriorate in time and you can unknowingly have thousands of little pinprick holes in the fuel lines. Mine was so bad, when they did a smoke test, they couldn't see where the smoke came out - it was oozing out of the entire length of hoses (15 feet).
Also, don't rush into buying a bunch of stuff right away based on what you read. Go slow and figure out how you will be using the RV (e.g., traditional camping versus hookups) and what you want out of your RV (e.g., home away from home or the basics). This way, you don't waste money buying stuff that sits in a cupboard taking up precious space and weight.