Welcome to the CRVL Forums
I've traveled and lived out of my Van(s) for years. Not a full timer now but aim to be. When I started there was no internet or Cell's and all I had was a Rand McNally Campground Atlas & Road Atlas. I was able to get my hands on a paperback 8 1/2 X 11 titled "The Campers Bible" which was quite helpful.
So when on other forums in the past I put together a website showing how to set up a simple Van and have added to it since. Those I created it for were interested in having a cheap & simple RV of sorts to go camping on the week ends, fishing, or hunting. Some wanting to go touring while on vacation were interested as well. So there is much you can do provided you know what to do.
You may decide to go to a State Park where there is camping and invite DH to come out to your site and visit you there. (then he can return to the sticks & bricks) But this way you can get his toe into the water.
While here at CRVL, I put together another website which is a Portal of information designed to make the Nomad life more Safe, Comfortable, and Convenient and can be used for pre planning or used "on the fly" while out there. This resource was created to help with a lot of issues you'll run into while out there.
I'd invite you to check out the two links below to these websites. Remember, you are starting out in a Prius, but in time you may wish to transition into another type of vehicle.