What Bob does is show people you can live on your Social Security, your pension, your poorly paid job, better in a vehicle than trying to maintain a rental. Doesn't have to be a full fledged RV. Many of the people in his videos have converted regular vans, cargo trailers, SUV's, etc for living out of. Some have very elaborate setups, others are barebones. One of my favorites is living out of a Prius. The Prius uses it's big battery to run the air conditioner. When the battery runs down enough the gas engine kicks on to recharge it. I would use the bigger Prius V for this. Remove the rear seat and and build a platform. Put a foam mattress on it. Have AC to sleep comfortably. Of course buying a Prius, even used, is expensive. Which is why I would buy an old Toyota Previa. Use a Crua Cocoon for comfortable sleep and camp in the Rockies in the summer when the nights are still cool to cold. Camp for free on Federal land.
But an even better solution is to live overseas on Social Security. Can have an apartment, eat well, stay in touch, including American tv, over the internet. No need to live in vehicles. Most people living in vehicles though while making the move to do something out of the mainstream are still too fearful of living overseas. They are conditioned to believe there are terrorists roaming everywhere looking for Americans to kill. But living overseas is still catching on with millions of Americans. For millions of Americans, many millions, having been downsized, not getting decent pay, etc means a miserable existence in retirement. Or they can do something about it. They can live as well on Social Security in many countries as their counterparts who had good jobs and a good retirement are living in the States. Just a matter of finding out the risk was really no risk at all.