Considering you are a previous Pop-up and Travel Trailer owner, maintaining the cleanliness of a CLASS-A should be no different. Whatever you did in your previous camper, just do it with your new one. There's nothing special or specific about vacuum cleaners. Just get something that works and doesn't take up a lot of space since space is limited in any RV. We have 2 Neato robotic vacuum cleaners we use in our house. One for our upper level, the other for the lower level. We take one of these with us when camping and just turn it loose in the camper every couple days. It takes very little space to stow away, and works really well.
Click here. They aren't cheap, but good products usually aren't either.
Here's a couple photos from last Summer when I turned both of them loose on our front porch at the same time. They know not to fall of the edge, just like they know not to fall off the top of a stairwell.
There is a warning that comes with them that says something like, As tempting as it may be, your new Neato is not a family pet. It is a robotic machine. Caution, electrical parts. (or something like that).
But that did not stop us. We named the white one Fido. We got him first. The black one is named Scarlet. We got her second. And yes, they ARE our electronic pets!