The highway you're questioning is not 191. We've traveled that many times in Utah and it's a great way to go.
What I believe you're talking about is Moki Dugway Hwy 261 from around Mexican Hat to Hwy 95 at Natural Bridges Nat'l Monument. Here's a picture of it and correct, RVers should not be on it.
http://www.dangerousroads.org/north-america/usa/783-mokee-dugway-usa.htmlHowever, to give your wife something else to worry about.....you stated you're taking 191 from Arizona. You didn't mention where you will start it in Arizona but do not take your RV on it between Clifton and Alpine, AZ. Heading north you will have a steep climb with a steady 8-9% and hairpin turns.
In our earlier RVing days we got on it from the north end going downhill. We had our 40' motorhome towing the Jeep and when we saw the sign "prohibited over 40' " it was too late. There was absolutely no place for us to turn around. Luckily this was in mid-October and we didn't meet another vehicle all the way down for many miles. After this drive we purchased the "Mountain Directory" and faithfully checked out our routes before driving in the mountains. We've come to love mountain highways but there are some that we'd never get on.
Also, if you plan on 191 north of Vernal, Utah that's another steep one. That is very doable with RVs but it is steep.
Have fun planning your route!