Buying a new RV would be madness, of course unless you're really sure you want to live this way and have a lot of spare cash laying around. They depreciate at an incredibly high rate. My first motorhome cost a bit over $30k when I bought it (it was 7 years old when I bought it), and I sold it last year for $12000, after living in it for most of the six years that I owned it. If you take your time, and shop carefully, you can find really great deals.
But, yeah, it's definitely a major life change, and one that maybe shouldn't be dived into without careful consideration.
Spending $3000 to validate a pretty huge lifestyle change isn't that much really.
We got lucky that we really enjoyed it when we bought ours but I could understand a lot of people finding the lifestyle ultimately a lot different from what they expected.