Stormy, My husband and I are facing this very same situation. Neither of us grew up camping. The one time we rented a motorhome, we had a s**tshow of an experience. Ten years later we decided to try again and bought an rv. We were off and running to some of the best times of our lives. Twenty years later, our rv was twenty-two years old. In great shape, and well maintained, but we worried about its age. When a local dealership offered us a fair price for it, we sold. No more rv. About three weeks after selling, we took our first non-rv road trip to Universal Studios in Florida. We had a great time, but we learned some things.
#1-being in a car with a partner is NOT the same as being in an rv with a partner.

Lesson learned-for most longer trips, we will fly.
#2-flying brings its own set of issues. You can no longer bring the kitchen sink!!
#3-a plus about driving-I can now drive, too. I never drove the rv.
We are currently planning a family, Disney trip for January 2025. Just booked three rooms. I am still wrapping my mind around the non-rv planning I have to do.
Live and learn.