Van Life in D.C. Metro Area

Hey there! I’m looking to move into my 2017 Rav4 in January 2021 when my lease is up. I have a steady job, but I’d like more freedom to move around and pursue the activities I enjoy (probably the same activities as lots of people here - climbing, hiking, running, camping…).

Is there anyone in this community in the D.C. metro area? Any suggestions for making the transition easier, or just general tips and ideas? Lastly, any tips on resources for the legality of car living? I haven’t been able to find much by simple Googling.

Thanks in advance for the interaction!