As we age, the bathroom can become a dangerous part of our home. In an RV, there's room to slip and fall in the shower, even in a tight space. Adding grab bars and nonslip mats in the shower and near the toilet can save you from a post-shower tumble. You can also change out the seat of the toilet so that it's higher, making it easier to sit and stand.
Bedrooms in most RVs are not what many would call spacious, but they do need to be comfortable. Consider replacing cabinet door handles again for easier opening. If possible, use under-the-bed drawers as main storage instead of higher cabinets that may be tough to reach.