I have thought about this myself, as I want an RV-friendly retreat.
First, HOAs... if there is one, run. The HOA that may start off with no rules, in no short order gets by-law amendments, and soon bans all RVs, and anything not considered acceptable in some posh LA suburb.
After that, I looked at RV Chalets (Bunzer Consulting has blueprints), which mainly are annexes onto the RV.
Once I buy some land, I probably will just build a small cabin that has its own water tanks, a cassette toilet, inside shower to a gray water system, and power for the A/C can come from the motorhome's genset or a portable generator. The motorhome will get a pole barn or carport (so it is out of the Texas heat, but engines can still run), and this will make for a decent home-away-from-home. Once I retire (crossing fingers), I add a power pole and septic system, and it becomes a "real" place to stay.