What dkottum said.
Save, pay off debt, save, find a way to make some $ on the road, save, save, save, perhaps buy a gently used something so you can get out there and test your wings.
We paid off our little house, saved
hard for 10 years, and bought our 06 Interstate in April of 07.
6 months later, at 58, we worker-bees took an early retirement from the State of Illinois and never looked back.
The best decision we ever made.
For us, selling our house and becoming full-timers was not an option, as we never wanted to tow anything, have kids/grands, and needed/wanted a home base. We never regretted that, either. It was always grand to be gone, equally grand to come home.
We roamed the country 6-9 months out of the year, depending on the year, our longest trip being 140+ days. Had the absolute time of our lives.
I really suggest you buy a gently used and get yourselves out there. This will feed your need to travel, familiarize you with costs, and give you a good idea of whether you can do without a home base or not.
Good luck, and keep us posted.
Maggie