Laws vary from province to province, and from state to state.
"In most cases, if the person is using the vehicle for personal use, they will be exempt from additional licensing requirements. "
This mirrors the law in most states, but there are variables. In most states it is legal to drive a 15 pass. van for personal or church use with a standard driver license. In California, the cutoff is 12 passengers. These restrictions are based on passenger count, not the size of the vehicle. It is legal to drive any size box truck moving van with a car license as long as the driver is not a paid employee. If a driver is paid, there are license requirements for the size of the vehicle, it's equipment, the cargo, where it's driven, etc.
Bottom line: Beyond a standard car license, there are nearly zero restrictions for RVs. Only if you hire a chauffeur.
(I'm licensed to drive trucks up to 26k lbs with hydraulic brakes and can carry passengers (AND anything with 2 or 3 wheels
) )