Dave,
Congratulations to you both at coming to the decision to try full timing. You'll do fine if you both are willing to give it a try.
When we decided to go full time here's what worked for us...
We first established our mail forwarding service in the state we would soon call our home state... South Dakota... as we slowly emptied the house, we lived in the RV which was parked in the our driveway. We wanted to really get a feel for how it was going to be once we drove out the driveway one last time.
We waited until the next spring to get our driver license and vehicle plates and change insurance agent for the Truck. Our first BIG TRIP was to be Alaska... we were able to get all three items taken care of in one short day. It was surprisingly simple. I felt much better once our vehicle plates and driver license matched our mail address.
We selected South Dakota because the state has low insurance rates, no vehicle emission testing, NO State income tax, has a very low sales tax (3%) we found out when we purchased our BigHorn. There are other things that are a positive as well... the negative side would be the requirement of being in state ( I believe I am correct) to get our driver license renewed. Karen's will be due in April of 2010 and that's not the best time to be in South Dakota. We could at that time decide to change our home state to one of the other popular ones.
Keep in mind Full timer insurance should include liabality coverage. Should some one fall out of your RV... Should you be sued.... you will need to be covered for those such issues.
Work Camping... IF you will be getting a pay check... please remember you will be required to pay a state income tax... if the state you work requires taxes be paid on income. IF you volunteer at an RV park... and they require you be on site... the value of the RV Site... will not be considered income... I believe the key there is being required to be ON SITE. As always... check with a professional tax person to be sure.
We have been on the road 4 years now... and have no plans to plant roots yet. The changes have impacted our travels some no doubt as it will many.... but we are always ready for the next Campgrounds... the next turn of the highway... It's been ONE HUGE ADVENTURE for us... We love the lifestyle.
Good Luck on your very own adventures...