Residency for Full-Time Vanlifers: How to Stay Legal and Connected on the Road
- Tessa Wilde
- Jun 27
- 4 min read
Updated: Jun 27
Written by Tessa Wilde
What Full-Time Vanlifers Should Know About Residency, Taxes, and Staying Connected
There’s a question nearly every full-time van-lifer asks themselves—sometimes before the first mile, sometimes after their fifth state line:
Where do I legally live now?
Even if your heart lives on the road, your license, insurance, taxes, and mail still need a legal home base.
At Drifter Vans, we’ve walked through this with dozens of clients who’ve left their traditional homes behind. So here’s the truth:
When you go full-time, you don’t lose the need for a residence. You gain the freedom to choose it.
Where do I live, legally, if I live in my van full-time?
When you’re living full-time in your van, you’re considered nomadic—but you still need a domicile: a legal residence for tax, insurance, registration, voting, and medical purposes.
Without it, you may face:
Trouble getting vehicle insurance
Delays with driver’s license renewals
Tax confusion or penalties
Lost or delayed mail
Difficulty accessing healthcare or government services
Your domicile state will define your tax situation and determine how easy it is to stay legally compliant.
Why Vanlifers Choose South Dakota, Texas, and Florida
These three states are favorites for full-time travelers because they offer:
No state income tax
Friendly laws for nomads
Streamlined vehicle registration and licensing
RV-friendly insurance policies
Nerdwallet: “Best States for Retirees and RVers with No State Income Tax”
Notes from the Road: Aron and Jamie’s Residency Tip
We first heard about the Escapees RV Club from two of our full-time clients, Aron and Jamie. They had originally planned to establish residency in South Dakota through another service, but hit a snag:
“I was gonna do South Dakota, but learned that a lot of remote W2 workers can’t get that address accepted by their employer,” Aron told us. “If you’re retired, great—but otherwise, Texas is the only choice that really works.”
Florida, while popular, also has a catch: you’re required to spend 183 days physically in-state to establish domicile—which doesn’t work for most full-time travelers constantly on the move.
So what’s the takeaway?
If you're still working remotely on a W2, Texas is often the safest and most employer-approved option. And if you're looking to make the process easier, Aron and Jamie highly recommend Escapees RV Club, which helped them simplify everything from mail forwarding to legal paperwork.
That’s where full-time vanlife residency comes in—it’s about establishing your legal and financial identity while living on wheels.
Escapees RV Club: The App That Makes it Easy
Escapees RV Club is one of the most trusted resources for full-time RVers and vanlifers. If you’re planning to go nomadic without a physical home, this is the tool to help bridge the gap.
With Escapees, you can:
Establish legal residency in SD, TX, or FL
Get a physical mailing address
Use their mail forwarding and scanning services
Manage everything through the Escapees app
Receive help with voter registration, vehicle registration, and insurance advice
Helpful Tools to Stay Legal, Connected, and Informed
Your Freedom Still Needs a Foundation
Vanlife gives you the freedom to choose where you wake up each morning. But it also gives you the freedom to choose where you plant your paper roots.
Pick a state that makes sense for your taxes, insurance, and lifestyle.
Choose tools like Escapees that make staying connected simple and secure.
And most of all—don’t let fear of red tape stop you from living the life you’ve already started dreaming about.
Because when your home has wheels, your life still deserves a legal place to land.
Let’s Get You Moving in the Right Direction
Kick tires. Ask questions. Drift awhile.
🎥 Explore Our YouTube Channel
Watch van tours, build reveals, and behind-the-scenes footage straight from our shop.
👥 Join Our Vanlife Layout Ideas Facebook Group
Explore layout concepts, ask questions, and get feedback from other dreamers and doers.
📜 Checkout The Drift — Our Vanlife Blog
Created by builders. Filled with vanlife tips, design inspiration, product reviews, and real client stories from the road.
🖼️ Check Out The Clients Gallery
Browse layout inspiration, interior finishes, and the creative details that make each Drifter Van unique.
Contact Drifter Vans Today
If you’re ready to start exploring, click below. There’s no pressure—just a starting point. This isn’t a commitment. It’s a door opening.
Let’s Get You Moving in the Right Direction
Kick tires. Ask questions. Drift awhile.
🎥 Explore Our YouTube ChannelWatch van tours, build reveals, and behind-the-scenes footage straight from our shop.
👥 Join Our Vanlife Layout Ideas Facebook GroupExplore layout concepts, ask questions, and get feedback from other dreamers and doers.
📜 Checkout The Drift — Our Vanlife BlogCreated by builders. Filled with vanlife tips, design inspiration, product reviews, and real client stories from the road.
🖼️ Check Out Our Clients Gallery
Browse layout inspiration, interior finishes, and the creative details that make each Drifter Van unique.
📬 Contact Drifter Vans Today
If you’re ready to start exploring, click below. There’s no pressure—just a starting point.This isn’t a commitment. It’s a door opening.
Not prefab.
Not mass-made.
Just soul and wheels—built to drive your dreams.
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