Can anyone drive a tractor trailer too pull an RV trailer?

There are limitations, so the question isn't as simple as just saying yes or no. If you're wondering whether or not recreational vehicles are dangerously unregulated, and largely operated by unqualified people who pose a significant risk to others on the road, the answer is a resounding yes on both counts. But, that aside..

Certain types of vehicles are exempted from requiring a CDL by the Federal Motor Carrier Safety Regulations (FMCSR). These include:

• Military vehicles, when operated by military personnel in the course of their duties
• Firefighting and other emergency vehicles, when operated by emergency services personnel in the course of their duties
• Registered farm vehicles, provided they are not operated on a for-hire basis, are used solely and exclusively for the activities of the farm, are operated within a 150 mile radius of the farm, and are operated by the farmer, members of the farmer's immediate family, or direct employees of the farmer
• Recreational vehicles, operated on a leisure basis (not a for-hire basis)

In these instances, licencing requirements are left to individual states, and those requirements vary far and wide between all 50 states. The political influence wielded by the senior community tends to influence how tightly a state will run their licencing requirements (there is, after all, a reason why an otherwise unnoticeable car becomes something to loathe and fear the moment you notice it has Florida plates on it). Some states require non-CDL Class A, B, and C licences. Some states have the "chauffeur's licence" system, and require an endorsement for non-commercial tractor-trailer type vehicles. However a particular state does it, most of them will require you to obtain a DOT physical, and require you to carry a DOT medical card on you, the same way commercial drivers are required to. As I do not know your particular state, I cannot tell you what system your state uses - you'd have to inquire with your state's DMV office.