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There are Drive Away services that match drivers with vehicles that need to be driven to a specified destination. A quick web search for "drive away services" will turn up number of these companies. These services usually don't charge rental fees, you just fill up the gas as you go. Most do require some sort of security, such as a cash deposit or credit card authorization hold.
BUT most of these deals have time restrictions, ie you have XX days to get the car/van/RV from point A to point B. As such they might not be suited for your needs if you plan to stop and explore as you go.