I'm guessing that if you could find a deal on an older Class C ( a generous deal so you could sell it if things don't work out) that would provide you and your dogs with enough room to travel comfortably, then you would only need to find some other people to travel with. Like a Caravan. This seems to be a growing notion these days. Perhaps because the people wishing to do this have little in the line of skills to support their efforts in this kind of venture. (perhaps caravans would form to visit the summer meet-ups)
I started out with an old Cargo Van. (shown below in the first link) Just me and I didn't travel that far from home to get my legs under me. I did week end camp outs and Day Trips to cities were I could drive about 1 to 3 hours to get there, check out the town, sleep in the Van somewhere in the town, and the next day finish touring the town before headed back home. It was how I was checking it out to see if it would be for me.
I found all I needed was a bed, my kitchenette build out of a wood box, and some basics. (food, utensils, blankets, towels, clean clothes to change into etc).
The other question is whether your pets are going to travel well. That is being in the Vehicle as you drive for some time and......their outdoor/wilderness savvy. I've known people who took their dogs camping and they
went crazy. Harassed other campers, their children & their pets. One took their dog on a fishing trip where they were in the wild "boondocking" and the dog found a Skunk shortly after getting there. (where you live there may be snakes) So these are things you need to know for yourself as you consider the nomadic way of life with your pets. (they rely on you for their well being)