Our plans seem to fit the library link that Tom posted (excellent article and much easier than IRS code to read). When we leave the house in Colorado and rent it out, it will no longer be our residence, the motorhome will be our residence and, I guess, whatever state we decide is our residence (thinking Oregon since my parents live there and we have a legitimate address but it could just as easily be South Dakota or Montana).
If we make a profit on renting the house, we would have to pay income taxes on that profit. However, in our economically deprived part of the country, we won't make an money on the rental. (Rent minus mortgage payment minus expenses = profit In our case zero)
If we decide to sell the house, we will first return to Colorado and live in the house long enough to take advantage of the federal exclusion (you must have lived in the home for 2 of the 5 years before selling the home). So if we sell the house, so long as we've lived there for at least 2 of the last 5 years, we can exclude up to $250,000 in gain. If we make more than $250,000 on the sale, we would have to claim that as gain on the sale of a residence. The good news on having rented out the property is that the basis for the house will probably increase when we have to do things like replace carpet, paint, etc., before selling.
When we worked seasonal for the park service, we usually switched to DL and plates in the state we were living and working in, partly because it was easier and partly because we lived in some pretty vehicle friendly states (Texas and Florida before California and Colorado). The last park we worked in, Hovenweep, is physically located in Utah but its address is in Colorado. We decided we preferred Colorado and got DLs and vehicle registrations in that state. The federal government took out Utah state taxes from Mike's paycheck and every year, for over 5 years, we filed Utah and Colorado non-resident tax returns and got back the Utah income tax we had paid in and then paid Colorado income taxes.
Now, all of this assumes that the current and future administrations don't decide they're bored and need to change the IRS code once again. In which case, all bets are off.