As in prefabs? Of course. But trailer/manufactured homes take it further. It's one single unit.
If "the VW Bug of" means a willingness of the manufacturer to modify the traditional chassis and body layout to better accomplish design goals, then GMC did build something along the lines of what you describe
Close, but again, no RVs. I'm looking at trailer homes, which at the moment all come kinda country and kinda kitsch. That's all you get. I think it would be incredible if there was something that was contemporary, reasonably cheap, and has personality. Like a VW bug.
EDIT: Forgot that double-wides are typically transported in two, so not one single unit, and they kind of are a trailer home. Yeah, nevermind then.