The DVLA thing is not such a big deal just a form to fill in and a medical (which is a bit of a farce ) cost £50.00 last year.I am sure they are wonderful if you are doing long term and long distance travel.
For a number of considerations (and not "just" finance) it would not be for me. I think I would go for a 5th wheeler rather than a Palace if I was going to do the long term / long distance thing but everyone is different and has different wants and priorities.
The van we have now is (as always) a compromise but it does what we need and after a day or two we are become re-acquainted with the climb into the bed above the garage. It's really just the transverse bed that is the compromise. If we go for longitudinal beds that would add to the van length and there may not be the space in the living area. When Martin gets to 70 we will consider what to do then - probably down plate rather than jump through DVLA hoops - again not an issue with the current van as there will still be enough payload at 3500 kg.