We haven't found our dogs to be particularly limiting. They're well trained, so leaving them in the RV for a few hours at a time while we check out the sights or go out to eat isn't a problem at all. We try not to leave them alone more than six hours at a time. They don't think much more of being alone in the RV than they do when we leave them in our sticks and bricks house. I crate them to prevent them from being able to see outside and also close the blinds. I leave the AC/heat on as appropriate and also leave on a TV or fan for white noise. Now a couple of caveats to what I just said -- First, one of our dogs is old and one is a small breed. They don't need much exercise and are happy to spend most of the day sleeping. Second, we almost always stay in commercial RV parks with reliable power (and we have two AC units). It might be different if you're planning on doing a lot of boondocking or staying in campgrounds w/o electricity. But for us traveling with dogs really isn't much different than how it would be if we didn't have them. And since I do 99.95% of caring for them, I don't think things would be much different if I were solo RV'ing.
If you decide to get one, I'd recommend adopting an adult dog who has been in a foster home and is known to be calm and easygoing. Stack the odds in your favor to begin with!