Domicile can be tricky - luckily, we have experienced attorneys! 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.Yes, you can live in an RV fulltime in Arizona, but there are some things to consider. The rules of Az are simple. To be a AZ resident you must reside in Az for more then 6 Mts. (7Mts). An Affidavit of Domcile is a sworn statement that you file with your county testifying that you intend to domicile in a new state. 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.