As long as the motorhome or RV does not have air brakes then yes you can usually drive just about any motorhome or RV with a regular car license.
As long as the motorhome or RV is under 7 tons you can almost always drive it with a regular license.
If the motorhome or RV is above 7 tons then you usually need a CDL license to operate the very large Motorhomes especially if the motorhome is fitted with air brakes.
I've driven a large RV before without air brakes and didn't need a special license to drive it.
I got pulled over with the RV because of a tail light out and presented my regular drivers license to the cop and it was no problem.
He advised me to get the tail light fixed and I was on my way.
I used my flashers until I got to the RV park a few miles up and then fixed it the next morning.