This article is a detailed exploration of questions about residency, domicile, and all their ramifications. The first step to establishing your domicile is to acquire your new address.This address will be used on all your papers that ask for your "permanent address. Yes, living in an RV full time in Maryland is legal, provided you follow local zoning laws and regulations. How do you set up your domicile state as a full-time RVer? In short, you have one, and only one domicile; however, you may have many residences—in theory you could have a residence on every street, everywhere. The first thing you will need to do in order to establish RV permanent residence in any state is acquire an address in the state. We have outlined a few considerations to keep in mind for those looking to change domicile, with a specific focus on moving in or out of the state of Maryland. Family Motor Coach Association (FMCA) - a good RV club to join if you are a full-time RVer living in a Class A, B, or C motor coach.