Welcome, and good for you for trying to get your ducks in a row.
You are in a "hair on fire" emergency situation. Please understand there will be facepunches to follow, but I mean them in the nicest possible way.
Your husband needs to face facts that just because he has an emotional or familial attachment to a material object, if he's not out of debt, then he is saying that the things (motor home/cars) are more important than you and him being safe and stable and debt free. His attitude is hurting the both of you. If you lost your job or were unable to work, you both would lose EVERYTHING. That is a horrible burden on your shoulders, so he needs to make some hard decisions, but it is for the good our your shared future.
Sell the motor home and the classic car ASAP. You can't afford them at all. I know there is some emotional attachment and it will hurt, but you have no savings, large amount of debt and are bleeding money every month - you absolutely can't afford them. Dropping the motor home insurance once you get rid of it should get that insurance payment lower as well. And a driveable 65 mustang could help pay off a good chunk of debt depending on the style and condition! I get that he inherited it, and that is a very awesome car, but he's choosing a material thing over everything else that should be more important in his life... and that really sucks. (seriously, I love classic mustangs and that would be a huge emotional decision, but something has to give... so unless the other stuff is able to get y'all on track for a fast paydown and savings build-up, this should not be "off the table" )
Lower the price on the FourRunner in increments until someone bites. Price fixes most selling issues. Even if it's a "scrap for parts" type of situation.
Why do you need a home phone when you have cell phones? Drop that and should reduce your phone/internet expenses by half.
Your food bill is crazy high for two people. Definitely should be able to cut that in half. Check out recipe sites like budgetbytes.com for some good food recipes that are cheap and easy to make. It goes without saying that any eating out should be cut out completely (start packing your lunch for work if you don't already) or at least severely reduced if this is part of the food bill.
Electric does seem pretty high, but you're taking steps.
I personally would not advise you to sell your current commuter car or bike to work. But if you really want to pay down the debt ASAP and start building a stache, it would be advisable to consider selling (as long as you could get the loan amount) and buying a ~4K older car for commuting, since your insurance would also go down by getting rid of a financed car. You said your husband works on cars, so you technically could get him to fix anything that crops up.
http://www.mrmoneymustache.com/2012/03/19/top-10-cars-for-smart-people/Good recommendations on where to start if you want to research. We have a 2004 Scion Xa that keeps chugging along and has had almost nothing in terms of repairs - just standard maintenance.
I'm a little concerned that your husband only puts $200 towards your shared bills - where is the rest of his SSI going? I'm sure there's more to the story, but frankly just from what you've posted, it sounds like your husband is not involved in any way in helping out on the shared debt loads (and an outright a hindrance in the fact that you're buying stuff you can't afford or hanging onto stuff that could bail you out), and you're going to be responsible for everything... and that's not a good thing for you or your marriage. Might be a good idea to ask him (in a non confrontational way) what he thinks you both can do to dig your way out. Get the conversation going and make sure he's completely aware of the situation and tell him how worried and stressed you are. If he loves you, he should be trying to help as much as he can. If he is benefiting from the mortgage and credit cards... he should be putting "his" money in with yours and paying off stuff WITH you. (and I'm kind of worried that he's spending his money on "fun" stuff while you're paying the majority of the debts/expenses, but I hope that's not the case)
Finally, can you pick up extra hours or shifts at your work, or the hospital? What about working home care a few nights or weekends? Until you dig out of the debt (especially those cards!) you should be trying to get as much money coming in as possible.
And I do hope you leave the 401k alone - it technically can count as your super duper emergency fund, but it's all you have right now working FOR you, so let it work. And please put those credit cards away until you're out of debt. Serious money lockdown and only spending on essentials.
As you free up money, hit the highest interest debts first (think you already have them prioritized that way) and keep laser-focused on killing those debts and rolling into the next one.
You can do this - but it's going to take some time and work and making sure you and your husband are both focused on cutting costs to the bone and bringing in more money if at all possible.