Mailboxes & Motorhomes: How RV'ers (of all kinds) Establish a Legal Domicile
Jennifer Schillaci • June 30, 2025
Learn to RV's Overview to Establishing a LEGAL Domicile - way more than "just" a mailing address
So, you’re ready to embrace RV life, and the next hurdle is figuring out how to handle your mail, whether you’re a full-timer, part-timer, or just a snowbird.
It can feel a bit daunting, but we’re here to help you every step of the way! Remember that this is simply information gathered from years of a nomadic lifestyle. If you need a legal answer, please get in touch with your lawyer or your CPA for business purposes.
Understanding your domicile is not only key to receiving mail on the road, it helps you navigate taxes, insurance, homeschooling laws and even healthcare coverage. With the right strategies, you can ensure that important documents and packages find you wherever your adventures take you.
At Learn to RV, we’re your ultimate resource for all things RV, guiding you through the ins and outs of mail management, domicile, and deliveries, & more so you can focus on enjoying the journey!
What is an RV Domicile?
Your domicile is your anchor, the place that’s officially home, even if you’re off exploring campgrounds all year long. While you may be enjoying life on the road, it’s crucial to establish a permanent address for legal documents like your driver’s license, insurance for your vehicles & tax forms. Neglecting this can lead to costly surprises, like facing back taxes from your previous state. Remember, your RV is your residence, but your domicile is what keeps everything in order.
Understanding RV Domicile
Your RV domicile is the legal address you choose to use while living on the road. It’s essential for things like vehicle registration, voting, and taxes. Knowing where to establish your domicile can help you navigate your RV lifestyle more smoothly.Why is Domicile Important?
Establishing a domicile is crucial for maintaining your legal identity. It affects your driver's license, insurance, and even where you pay taxes. Choosing the right state can save you money and provide benefits tailored to your lifestyle.How to Choose Your Domicile
Consider factors like tax laws, residency requirements, and the services available in different states. Researching these aspects will help you make an informed decision that aligns with your RV lifestyle.Common Domicile States for RVers
Many RVers choose states like South Dakota, Florida, or Texas due to their favorable laws for full-time travelers. Each state has its own benefits, so it’s worth exploring your options.Who needs to know my domicile address?
Banks, insurance companies, that magazine subscription you forgot to cancel. Anyone you have any kind of account with will need to know this address.
Texas, Florida & South Dakota
The top 3 states for Nomadic Travelers
Picking your domicile isn’t just eeny, meeny, miny, moe. It’s a big deal!
You’re not just choosing a state; you’re picking a lifestyle and, let’s be real, trying to save a few bucks too.

Choose wisely, and you could enjoy some sweet perks like lower taxes, easier homeschooling, and healthcare options that don’t make your head spin.
Texas
One of the most significant advantages of Texas domicile is the absence of state income tax. This can save Texas residents a substantial amount of money every year.
Additionally, Texas also has lower sales and use tax rates than many other states, which can lead to savings on everyday purchases.
Another benefit of Texas domicile is its favorable asset protection laws.
Texas is known as one of the most creditor-friendly states, meaning that it offers strong legal protections to individuals and their assets. This includes homestead protections, which shield the primary home of a debtor from being seized to satisfy a judgment. These protections can provide peace of mind and security to those concerned about protecting their wealth.
Texas does not require you to file a residency afffidavit. However, anyone can file an affidavit in the public record further confirming your intent of domicile in Texas. Even though it is not required, some individuals feel more comfortable including this publicly filed sworn affidavit in their stack of records further supporting their intent and change of domicile.
Texas does not have any regulations or requirements for full-time RV families choosing to homeschool on the road.
In June 1994, the Texas Supreme Court guaranteed Texas homeschooling families the right to teach their children at home without fear of prosecution. For RV roadschooling families, the state of Texas would be a great home base state.
Florida
Why is Florida a top choice for full time RVers? Well, for starters, they’re not into that whole state income tax thing.
That’s right, you can keep your hard-earned cash in your pocket!
This alone makes RV owners flock to the Sunshine State like seagulls to a picnic.
Got kids?Homeschooling on the road without pulling your hair out is a breeze in Florida. Their laws are as chill as a beach breeze, making it super easy to fit school into your busy schedule.

And let’s talk about the Florida lifestyle – it’s like Mother Nature’s VIP pass. Sunshine year-round? Check. RV-friendly spots everywhere you look? Double check. It’s the perfect spot to kick back and soak in some rays between your epic road trips.
So, if you’re an RVer looking for the dream combo of savings, simplicity, and sun, Florida’s basically rolling out the red carpet for you. Park your home-on-wheels here, and you’re not just choosing a state; you’re upping your road trip game!
Florida residents also enjoy discounts at major attractions! Imagine paying for your annual Disney pass in easy monthly installments instead of all at once – a wallet-friendly perk exclusive to residents. But the magic doesn’t stop at Disney. Other theme parks and Florida attractions also have special deals & discounts for those that choose a Florida domicile.
Your state residency also comes with a VIP pass to some of nature’s best playgrounds!
Florida’s state parks offer special deals and privileges like reduced fees for camping and other recreational activities. As a Florida resident you also have the perk of earlier booking for campsite and cabin reservations.
South Dakota
One of the biggest draws to South Dakota is its lack of state income tax. That’s right—no state income tax, no capital gains tax, and no inheritance tax. For individuals who earn income from multiple sources, like remote workers, digital entrepreneurs, or retirees with investment portfolios, this can result in significant savings.
South Dakota residency is perfect for:
- RV enthusiasts and full-time travelers seeking flexibility.
- Retirees looking to maximize their savings and simplify estate planning.
- Remote workers and digital entrepreneurs wanting to reduce tax burdens.
- Snowbirds and seasonal travelers who want a tax-friendly home base.
In 2023, South Dakota’s legislature enacted a series of changes with far-reaching implications for digital nomads and expats. Under the new regulations, having a personal mailbox address alone is no longer sufficient to establish a domicile in South Dakota for various purposes, including voting and (sometimes) taxes.
The new requirements complicate tax planning. Nomads who once benefited from South Dakota's tax advantages must navigate the fine line between domicile requirements and tax minimization strategies. Taking things literally by the book, this could mean paying unemployment taxes to a dozen states as you travel and work across the continental US.
Roadschooling in South Dakota
Parents or guardians who choose to homeschool their children in South Dakota must file a “Notification for Public School Exemption” with the local school district. This form declares the intent to provide homeschool education and must be submitted annually by August 15th or within 15 days of starting homeschooling making it an excellent choice for families that roadschool.
FUN FACT
Just because you choose a state as your legal domicile doesn’t mean other states won’t try to claim a piece of you if you spend enough time there.
This is what’s called having a tax nexus in other states, and it’s about as fun as a flat on a deserted stretch of Route 66.
Make sure to keep an eye on how many days you’re spending in any state. If you linger too long, you may find yourself owing them tax, even if it’s not your domicile.
Can I domicile in another state?
Learn to RV is not a law firm, so we cannot give legal advice about your specific situation.
The best state for RV domicile will be personal to you and your life, finances, property, future plans, and current situation.
There are many things to consider when choosing a state for domicile, depending on your needs.
As an RVer, you can claim any state as a legal domicile. We are sharing the highlights from the top 3 states used as a domicile by RVers.
Every state in the U.S. has its own guidelines for what constitutes residency and establishing a legal domicile.
Typically, they look for signs that you’ve hung your hat there with the intention to stay – at least on paper.
These can include getting a state driver’s license, registering to vote, or having a physical address, which can often be a mail-forwarding service tailored to full-timers & part time RV'ers.
Establishing this is crucial, since without a legal domicile, you might end up in a limbo that could spell hassle and headaches down the road, especially when Uncle Sam comes knocking for tax time.
Remember, we’re living the dream on a perpetual road trip, but the rules of the road aren’t just about speed limits and rest stops.
Think of being diligent with your domicile and residency status as your ticket to smooth sailing across state lines.
Mail Options while you travel
As you embark on your travels, it’s essential to choose options that suit your unique journey—whether you're hitting the road for a month, a season, or transitioning to full-time living by renting or selling your home. We understand that a reliable mail system is a key part of the adventure, helping you stay connected no matter where you roam. We want to help guide you in finding the perfect solutions tailored to your needs, ensuring your RV experience is as seamless and enjoyable as possible!
You might actually be surprised at how many options you have to choose from! After lots of research we have discovered these are certainly not all of them.
Escapees Mail Service
A legal Domicile
Escapees Mail Service offers service in three states (TX, FL & SD) , but its central office and hub is located on 140 acres just outside of Livingston, Texas. The mail service facility is housed in a 16,000 sq. ft. building and is managed by approximately 40 full-time staff members.
Because Escapees Mail Service is the largest mail forwarding service specifically geared to RVers in the nation, they have state-of-the art sorting and mailing equipment, as well as commercial shredders, scanners, and custom software that allows highly personalized service.
Although many Escapees members use their Rainbow Drive address as their legal domicile, the Mail Forwarding Service also makes it easy for members to domicile in the RV-friendly states of Florida and South Dakota by providing an alternate mailing address in those states.
To take a look on the inside operation & on all the aspects of Escapee's mail service please visit
here
My RV Mail
My RV Mail service provides you with a physical address for both personal & business mail. This company is associated with Passport America
This address can help you to establish Florida residency if you wish. You'll also need to make an in-person trip to the DMV in Crestview, Florida to get your license, vehicle registration(s), title transfer if applicable, and register to vote.
America's Mailbox
If you're dreaming of making South Dakota your home base, America's Mailbox has you covered with a variety of domicile options. Whether you need simple mail forwarding or fully scanned mail services, they've got plans to suit your needs. Plus, as an FRVA member, you can access exclusive benefits that take your RV lifestyle to the next level, including legal services with their top-tier memberships.
And if you’re ready to embrace the local flavor, their campground is the perfect spot to kick off your journey toward living in South Dakota. With America’s Mailbox and Learn to RV as your guides, you’ll feel right at home in no time!
Traveling Mailbox
Since 2011, Traveling Mailbox has been a game changer for anyone on the move, offering virtual mailbox solutions that keep you connected no matter where you are in the world.
With a unique physical street address, you can easily receive mail from any carrier, including UPS and FedEx. Whether you're an RVer, expat, or small business owner, you can manage your postal mail online—view it, decide to scan it, forward it, or even shred it!
Plus, using addresses across the U.S. means you have the flexibility to make your Traveling Mailbox work for you, no matter how far you roam.
St. Brendan's Isle
Founded in 1988, St. Brendan’s Isle began by catering to a small group of live-aboard cruisers, but they've expanded their services way beyond that to meet the needs of travelers everywhere—from full-time and part-time RVers to busy business executives and expatriates.
SBI has flexible month-to-month fees, the convenience of mail forwarding any day you choose, and their innovative Mail Scan Pro virtual mailbox, they make staying connected while on the move a breeze.
They are based out of the Jacksonville, Florida area, and if you are dreaming of becoming a Florida resident easy peasy!
Good Sam
Mail Service
If you’re claiming Florida as your new residency, Good Sam has you covered with their trusted mail service. Each account comes with a physical street address perfect for residency, and you can even connect with a live representative to review your mail anytime!
Plus, they also have options for a personal or toll-free number and a dedicated voicemail inbox, you’ll never miss an important message. This is expecially helpful if you are a Florida Business owner.
Virtual Mailbox
A Virtual Mailbox is the perfect solution for RV owners, travelers, and anyone juggling a busy schedule. Your mail is securely delivered to a designated mail facility, where it’s scanned and sent straight to your online mailbox—no need to wait for physical delivery. You’ll get instant notifications for new mail, ensuring it never piles up.
Plus, their unique mail forwarding service means your important correspondence and packages can be sent to any address, no matter where your adventures take you.
iPostal
For part-time RV'ers and full-time nomads, iPostal offers a fantastic solution with over 3,500 real physical street addresses and flexible pricing options. Whether you’re an individual, family, entrepreneur, or small business, managing your personal or business mail remotely has never been easier. You can travel freely while knowing your mail is secure from porch piracy and theft. Stay connected and explore confidently with iPostal while embracing the RV lifestyle!
Anytime Mailbox
With Anytime Mailbox, you get a permanent mailing address for life, perfect for your personal and business needs! This means your mail and packages are securely received at a staffed location until you choose where to send them.
You can manage your correspondence anytime, anywhere through the user-friendly app or web portal, with 24/7 remote access and even free unlimited cloud storage. With plans starting at just $9.99 a month across all 50 states, staying organized and properly domiciled has never been easier!
UPS Store
UPS is a great shipping service, but probably not the best resource for full-time RVers who need continued mail forwarding.
Perhaps you’ve seen their advertisements about offering personal mailboxes with a street address. However if you are a fulltime RVer at a park year round, this may be a good option for you.
While having an actual street address versus a post office box number can be advantageous, the limited services and the add-on fees are going to be higher than what other professional mail forwarding services offer.
Post Office
For those without a permanent mailing address, utilizing general delivery can be a smart solution!
This service from the USPS allows you to receive your mail at a local post office. Simply address your mail to your name, followed by “General Delivery,” and include the post office’s city, state, and ZIP code.
When your mail arrives, just bring a valid photo ID to the post office, and you'll be able to collect your items hassle-free, that is, if the post office allows it. It is important to note that not all post offices offer general delivery, so make sure to check with the post office in advance to confirm availability and any specific requirements.
It is however a budget friendly option.
Having a
family member hold &
forward the mail.
Many RVers opt to use a trusted friend or family member's home as their mailing address, allowing for a simple and effective way to manage their correspondence on the road.
This low-tech solution works especially well for those who don’t receive much mail, as your friend can collect and periodically forward anything important.
Remember, for legal purposes, your domicile is where you have your permanent home—the place you return to or "intend" to return to.
Things to Consider when
Steps to Establish your domicile
So, once you’ve circled a state on the map, what's next?
Welcome to the nitty-gritty of establishing your legal residency! First off, you’ll need a permanent address—one that won't just roll away with your wheels. Services tailored for nomads can help you secure a legitimate street address, essential for everything from getting a driver’s license to voting.
Speaking of which, your next pit stop is the DMV. While not the most exciting stop on your journey, getting that shiny new driver’s license is a crucial step in setting up a home base for your RV adventures. Let's make sure your life on the road is as smooth as it is adventurous!
What factors should I consider?
When selecting a state to domicile in while traveling in your RV, think about tax implications, vehicle registration, and healthcare access. Each state has its own rules that can affect your lifestyle on the road.How do taxes vary by state?
Some states have no income tax, while others may have higher rates. Understanding these differences can help you save money and make the most of your travels.Changing your Driver's License
Legal requirements for address reporting and license transfer are critical for those living in one state while holding a driver’s license from another. States generally require individuals to update their license with their current residential address within 10 to 30 days of moving. This ensures official correspondence reaches the license holder without delay.
Transferring a license is mandatory for those establishing permanent residency in a new state. This typically involves surrendering the previous license, providing proof of residency (e.g., utility bills or lease agreements), and sometimes passing vision, written, or driving tests. States usually set a 30- to 90-day window for completing this process.
Register to vote
In the United States, voting is a fundamental right and a voluntary act, allowing citizens to express their voices freely.
As an RVer if you are away from your domicile state on election day, absentee voting is a convenient choice
Early voting allows you to vote in person before election day, often providing more flexibility with dates and times
If you are in your domicile state on election day, you can vote in person at your assigned polling location.
Homeschooling Laws?
If you plan to travel with children, consider homeschool laws for each state. Some states aren’t as homeschool-friendly as others.
A handful of ones in the northeast have very strict regulations. They often require parents to submit plans and information at the start of the year and quarterly reports. It can be a full-time job keeping track of it all.
When considering your options for your RV domicile state, you can do yourself a favor if you select a more homeschool-friendly one.
Vehicle Registration & Inspections
Registering your vehicles is necessary for becoming a resident and establishing your domicile. Some states have expensive fees for registering vehicles, especially if new to the state. You’ll also want to consider the required inspections for registering or renewing a car.
You don’t want to drive back to your domicile state to have your vehicle inspected yearly. Luckily, some states have a reputation for lower-than-average registration fees and few inspections. Some states will allow you to self-inspect your vehicle if out of state when it’s time to renew your registration.
Vehicle & Health insurance
Costs for vehicle and health insurance vary from state to state and city to city. Some states have notoriously high car and health insurance premiums. Unless you enjoy paying high prices, call and get a quote before getting too far.
When changing their state residency, many face difficulty because vehicle and health insurance policies may not be available in every area. You may have to change insurance due to your current provider not having a presence in your new location.
In addition you may lose the tenure you have with your insurance company when changing your domicile to a new state.
Medicaid/ Medicare Eligibility
Medicaid is a government-funded healthcare program that provides coverage for eligible individuals and families with low income. Eligibility for Medicaid varies by state, and the income and asset limits can differ.
Full-time RVers may be eligible for Medicaid depending on their income, assets, and the specific regulations of their domicile state. It is essential to research the Medicaid eligibility criteria for your state of domicile and consult with a healthcare professional or Medicaid representative for guidance.
Getting Prescriptions while you travel
Depending on the type of medication you need, getting a prescription filled on the road can be tricky.
If you use a pharmacy that’s part of a national chain, you’re likely to have an easier time getting your prescriptions filled because these pharmacies throughout the country that can access your file via a centralized database and fill/refill your scripts at your physician’s direction.
Time in state requirements
Some states require residents to spend a certain amount of time there to become and maintain residency. However, other states have no time-in-state requirement.
If you choose one with strict regulations, you’ll need to plan your travel route to ensure you stay the appropriate amount of time in the state each year. This can make it frustrating, especially if you find yourself on the other side of the country.
Do you own a business?
Navigating the complexities of tax laws can be particularly tricky for full-time RVers - especially if you own a business or work remotely. Please seek the guidance of a qualified tax professional, a CPA or a bookkeeper who specializes in the nomadic lifestyle.
Angelica at Open Roads Bookkeeping strives to do just that. As a full-time RV'er and bookkeeper who specializes in helping those who live a nomadic lifestyle as they manage their business from the open road. She even has a complete breakdown from state to state to help you decide what domicile is right for you and your business.
Open Roads Bookkeeping has a team of ENTREPRENEURS, encouraged to take risks that will create a sustainable, balanced business model. They recognize this is a journey, not the road less traveled. They embrace a culture dedicated to maintaining a positive work-life balance. Open Roads Bookkeeping is based in both integrity & transparency. They strive to engage in open, honest, and constructive communication with their clients.
At Learn to RV, we understand that each traveler’s situation is unique, with distinct residency requirements and tax obligations. An experienced tax pro can help you sort through potential deductions and credits, ensuring you maximize your savings while staying compliant.
Your Domicile & Healthcare Options
But when it comes to healthcare, you can’t just point to a spot on the map and hope for the best. Your legal domicile plays a huge role in deciding when, where & if you are covered for both routine and emergency visits.
If you’ve planted your flag in a friendly state for full-timers, chances are they’ve got options tailor-made for folks like us. These might include nationwide PPO plans that understand we’re more likely to visit the doc in a different zip code every time.
Be mindful, though, because your insurance premiums could swing up or down depending on your residency. Some states have higher costs, sure, but they might also boast better coverage or more in-network options that stretch coast-to-coast. And that’s something to consider when your back porch view changes on a regular basis.
Let’s talk prescriptions, too. When you’re miles from the nearest pharmacy and running low on your meds, having a plan is key. Look for insurance that partners with nationwide pharmacies and offers mail-order options. You want a company that gets the nomad life and won’t leave you scrambling for a refill & a mail service that handles requests like this all the time.
Your best bet is to establish a relationship with a primary care physician, preferably in your state of residency (aka your domicile). They’ll be your health HQ, someone who knows your medical history and can provide continuity of care, even if your physical check-ups are less frequent than the average person.
If you’ve picked your legal domicile wisely, you might also get access to virtual care options. Telehealth has come a long way, and now you can have appointments via video calls from pretty much any scenic location you find yourself parked in. It’s like the medical version of sending a postcard – “Wish you were here, Doc, but since you’re not, let’s video chat!”
Dental and vision care also shouldn’t be overlooked, because squinting at road signs or nursing a toothache while navigating mountain roads can really take the bliss out of living that sweet RV lifestyle. Many insurance providers offer add-on packages, so you can get your eyes and teeth checked whenever you roll through your domicile state.
And let’s not forget about those rolling homes of ours. RV insurance is a world unto itself, with coverage options that range from the basics to full replacement cost value. Your state of residency could affect your rates and the protection plans available to you. Beyond just accidents, consider coverage for personal belongings inside your RV and potential emergencies that could leave you in a hotel room while your home-on-wheels is in the shop. Being a member of Family RV Association FRVA Assist Program can help to get your spouse, your rig and your pets home in an emergency. And it comes with every Family RV Membership as a bonus to your annual membership.
Lastly, remember to keep all your important health documents organized and secure. Have copies of your insurance policies, contact info for your doctors, and a list of medications available in a pinch. Whether it’s a physical binder or a secure digital folder, or best yet- a fire safe bag, make sure it’s something you can access quickly – because managing your health on the road should be as streamlined as checking your mirrors before you hit the highway.
Embracing the RV lifestyle means freedom, exploration, and living life at your own pace, but don’t let healthcare and insurance become the speed bumps on your journey. With your legal domicile in the passenger seat, navigate the healthcare highway with confidence, and keep the focus on the adventure ahead. Because in the end, being prepared means you get to spend more time soaking in those wide-open spaces and less time worrying about what-ifs. So, go on and enjoy the ride, knowing you’ve got a health and insurance game plan that’s as solid as your love for the open road.
If you are not sure where to start with this, you can always schedule a one-on-one consultation with our resident healthcare advisor Dealora.
Got Questions?
Whew! That's a LOT!
At Learn to RV, we understand that where you establish your legal residence can impact everything from taxes to insurance. It's not just a paperwork decision; it’s about finding a place that supports your adventurous lifestyle while offering you the benefits you need.
Here’s the thing, though: no one can tell you the perfect place to call home—that’s for you and your co-pilot to decide. But take your time, weigh your options, and maybe even chat with other nomads you meet up with at campgrounds. They can give you the lowdown on their residency choices and what life’s like in different states.
After all, the beauty of your RV lifestyle is that the journey to choosing a legal domicile is just as much an adventure as the open road itself.
We will be breaking down the top 3 state's benefits & drawbacks on the blog soon for Florida, Texas and South Dakota soon!
Stay Tuned!
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