Just returned from a trip down into southern Arizona. At a State Park near Nogales, AZ met a fellow camper couple with a small motorhome built on a Toyota pickup chassis. They had bought it used for a pittance, did some fixing up and were on a post-retirement trial run at full-timing.
My impression was that they were intentionally living and travelling well below their means. They had entertained the idea of a Scamp
or other small FGRV, but they were a little aprehensive about towing a trailer when the Toyota became available.
So far - so good into this experiment about 2 months. The only complaint was fuel economy and performance on hills.
So, if you are fearful about towing, there are other alternatives.
The best advice, I think, is to do it as soon as you can and well before you can't. You don't need to have the "perfect set-up" at the get-go. You should build to that goal as you go along. Fix the major annoyances in your rig first, then start solving the minor ones. It's a never ending process that can allow you a healthy creative outlet.