I think we all need to plan for such things because we can never know... That being said I'm all for 2 ideas:
*the surviving partner locks up and comes back late with help
*both occupants of the "rig" need to know how to drive well enough to get out of harms way, to a safe place or all the way home.
We both drive and share driving duties close to 50/50. I would indeed take the rig on home or to where ever I needed to be without help.
Having one of the insurance/hazard policies is ok too. Some RV clubs actually offer contacts for folks who are in trouble and have people that will come assist in any way possible. I think this is one of the biggest benefits of belonging to any of the local chapters of any large club...they are very willing to help in time of need.