I definetly wouldn't trust it without a minimum of new tires, brakes, belts, batteries and hoses.
How much of the work can you accomplish yourself? If your a DYI person who is confident working on most things then the cost is considerably cheaper. Even if you are though, its a couple of grand to replace all of the above. Do you have any pictures of the areas of concern you could share?
We bought ours in a little better shape than that. We drove it 800 miles home but it had only set for a year. Even at that we've invested a couple of thousand in have to items. These motorhomes are a commitment in time and money but it is worth it! Just so you know though once you get the bug the upgrades never stop