We have a Vortex toyhauler that does not have ducted heat to the garage. We installed a catalytic heater that runs right off our propane tanks on the th. We did the portable heaters for awhile, but if your not at a campground with full hook ups your running the generator a lot for the heaters. It seems to work really well, we have just tried it out in the driveway though. We do not have small children with us all the time though. Our daughter that sleeps back there regularly is grown. We do have the grandkids with us sometimes. Hopefully touching the heater will not be too hard to keep them from doing.
Good luck! Enjoy!