Let Action Credit Services take over the payments ONLY IF Bank of America will release you from any and all liabilities.
If you just give Action Credit your motorhome and they will then make the payments for you without any approval from Bank of America, you have lots of issues:
1. It is a violation of your contract with Bank of America and they can and will demand you pay off the entire loan immediately.
2. You have no guarantee that Action Credit will actually make the payments. When they don't, you will be in default on the loan, not Action Credit.
3. Depending on State laws, you could be liable for any accidents that happen with the motorhome.
4. Your current insurance company will not continue to insure the motorhome if you give it to Action Credit.
You are in a bad situation financially with the motorhome, but you will be in an even worse financial situation if you allow anyone to take your motorhome while you are still responsible for it.