Full-time RVer? Compare Texas, Florida, and South Dakota for domicile, mail forwarding, taxes, and healthcare—setup steps, documents, and common pitfalls.
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Quick note: This is general information for travelers, not legal, tax, or insurance advice. Verify details with your state, insurer, and a qualified professional.
What “domicile” means (and why it matters)
“Domicile” is your primary legal home—the state that anchors your driver license, vehicle titles, taxes, voting, and often your insurance rates. As a full-timer, you can choose any state where you can establish legitimate ties (address, presence, ID, registrations).
The “Big Three” for RVers at a glance
How to establish domicile (step-by-step)
Pick a mail-forwarding (PMB) service in your chosen state.
Look for: DMV-friendly physical addresses, Real ID support, online scanning, and optional check deposit.
File USPS Form 1583 to authorize the service to receive your mail.
Be physically present as required (e.g., driver-license visit, brief stay with receipts).
Get your driver license and register/t itle all vehicles in that state.
Register to vote and update your address everywhere: IRS, banks, insurance, employer/clients, estate documents.
Choose health coverage on your state marketplace (or through employer/retiree plans). Confirm how coverage works out of state, telehealth options, and urgent/ER benefits while traveling.
Update insurance (auto/RV/umbrella/health). Use the domicile address as the garaging address unless your carrier instructs otherwise.
Mail forwarding: what “good” looks like
Real street address (PMB) accepted by DMV and insurers.
Same-day scanning + app for viewing/forwarding mail.
Package handling (UPS/FedEx/USPS), plus scheduled consolidations to wherever you roam.
Notarization support (many services can e-notarize Form 1583).
Taxes & paperwork pitfalls (avoid these!)
Using a friend’s address instead of a PMB tied to your actual state ties—can create audit risk.
