A domicile is where you maintain your permanent legal address. It's also located in the state in which you pay your taxes.The best states for full-time RVer domiciles generally come down to Texas, Florida or South Dakota. All three states are income tax-free. 30day stay requirement: Must show a 30day consecutive stay in the state for residency. Obtain a Driver's License in the New State and Register Cars and Boats in the New State. A perennial hot topic in the nomad community is how to establish residency when you have no permanent address. Poor health is linked closely with homelessness in the older adult population.