Make the first night or 2 "out" in your driveway. Easy to bail if you need to, close enough to grab stuff out of the house that you hadn't thought of, etc.
The next trip should be far enough away where returning home is still an option, but more of a pain. Like 25-50 miles?
After that, you're good to go.... Welcome to the world of RVing!!
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1997 37' HR Endeavor, 275hp Cat, Freightliner
03 CR-V Blue Ox, Ready Brake
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