Some people dreaming of the nomadic life have absolutely no idea what they are getting into with an RV. RVs are not built for long-term living; even the most expensive of them are flimsy and need a lot of maintaining. They are built with lightweight materials for the most part, and all the shaking and rattling while driving down the road means that things work themselves loose. We have friends who own a $300k motorhome; the microwave fell off the wall while they were rolling down the highway.
We owned a motorhome for over 10 years and it was fine for 2-week trips, but by the time we got home we were more than ready to be back in our house. It is work to set up and break down campsites, and a lot of that stuff is not for the elderly.
Then the associated costs... maintenance, insurance, fuel, roadside assistance, etc. It's just not a cheap solution unless a person buys an older travel trailer and permanently places it on some land.
I don't know anything about van dwelling or living in cars, but it must be a hard life.