Im going to Yosemite, or Carmel, or somewhere down there! Probably Yosemite. I have a Dodge Ram truck and an RV trailer. I like to get to a place and unhook and drive the offroad 4x4 V8 around, at least until gas is gone. I see driving RV's every place I have been so it appears to me that there isn't a problem with that. Of course I don't go into places I don't belong, like across a desert or bad back roads way off the beaten path.
Last time I was out, in the fall, I saw a lot of "El Monte" RV's, they must be a huge rental company. I went to CA, Anaheim, then to LV and up to Mono Lake and across Tioga Pass at 3am, pitch black and cold. Arrived in Yosemite and passed the entrance which had a sign that read "Pay on your way out". We found a camping spot, paid, camped, it's all dry camping there, and left the next day for home. I Took my 5x7 and a bunch of holders and had a blast.
Good luck and go for it. You will get the hang of RV driving quickly on the road so don't worry about it you will be just find. And one thing to keep in mind; RVer's are some of the friendliest and nice people you will meet. I was told that and found it to be totally true.
Curt