This article is a detailed exploration of questions about residency, domicile, and all their ramifications. We didn't "set up" domicile but we full time and use Florida as our home base. 1.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. Establish your new domicile address at least a month before you anticipate applying for your driver's license or ID card. You will need a form from DMV for your local police to verify VIN and mileage. The best states for full-time RVer domiciles generally come down to Texas, Florida or South Dakota. All three states are income tax-free. We use My RV Mail in Crestview as our domicile address. Interested in establishing your domicile in Florida? Take a look at the steps below to understand what tasks and forms should be completed.