Bob Wells, godfather of this forum, has dozens of videos on different types of RVs.
https://www.youtube.com/channel/UCAj7O3LCDbkIR54hAn6Zz7A/videos
If you're planning to "live" in the RV full time, then you'll likely want something larger than any type of van, eg a Class-C at the very least. I just got back from a month in Oregon, and there were a bazillion people pulling trailers, roughly 22'-24' long, with their trucks and SUVs, which should probably work ok if planning to use the Yukon as a tow vehicle. I'm a vanner, and not into trailers myself, but people I talked to were quite happy to have enough room in the trailers to live a life with the "normal" conveniences. Otherwise, there are also Truck campers (not much room), plus Class-As and 5th Wheels (the latter 2 being more like whales on the highway).
The biggest disadvantages of the bigger rigs is low mileage, negotiating those things in towns, backing up, and finding places large enough to park and camp in. When backing up, you really need one person to drive and a spotter at the back to keep from running into trees, &etc.