To establish a new domicile, you need 1) a physical presence, and 2) a truthful, concurrent, intent of making the new state your permanent place of abode. In order to establish residency you need a permanent address to have your (ideally already existing drivers license) attached to.Step 1: Secure a mailing address with Escapees Mail Service. Considerations for full time RVers for selecting and setting up a state of domicile, residency and getting their mail.