I'm sure you can find most of the answers here. You can get into this for weekend & day trips with a small investment in an older used Van with some miles left on it.
I would invite you to look thru the two links below. Van Conversion is about a simple build that doesn't require a lot of materials & tools. A lot of the stuff can be found in flea markets & yard sales this time of year. Then consider a 50 to 100 mile radius to explore to get started.
Consider locating a mechanic who moonlights from his regular job that would check out your rig for you so it will be safe and pass vehicle inspection if your state has one. If you have not owned a Van before, (or whatever rig you've chosen) take it to a large parking lot on a Sunday etc, and practice driving it around
to get used to it. Take a friend along who has experience driving one like you've purchased to coach you some. Build your confidence with it driving it around when there isn't a lot of traffic.
The second link below is a portal of handy info to help you to be safe out there, be comfortable, and enjoy conveniences that are available that would otherwise take some time to learn about.
Good luck