When we were just considering buying a Class A we had the same concerns. We went to a dealer to just look at them, and the salesman insisted we drive it. He knew we were not ready to buy at this point. He drove it out of the parking lot, then gave me my only driving lesson. "Don't hit anything!" I drove, then my wife drove. This was the first time either of us had even been in a Class A. We both felt comfortable within just a few minutes. Of course, several months later we did buy from the salesman, but that is another story... Now, I would rather drive my Class A on a trip than my car.
We like North Beach in St Augustine. Skidaway in Savannah is really nice, but just south of Savannah is Fort McAllister state park. It is really nice as well, plus a little history with the fort. Both Ga state parks were very nice and roomy, but a little buggy.