Good video (love the grenade hanging from the rearview mirror! lol!). Some good descriptions of Fire response.
As to the engine being too close... yea, he could have stopped farther away. I think if the propane tank hadn't popped off it would have looked better. Of course, the driver should be thinking of that - or at least the officer.
Firefighters looked unconcerned... Good! They are probably experienced and have been there - done that. You are not supposed to run around on the fire ground.
Yes, they should have had SCBA on (air packs). But with the breeze and since it was a surround and drown, that is why they skipped that. They were upwind of the smoke, and they weren't going to go searching through the RV until the fire was out.
My FD has two engines that hold 750 gallons each, and a tanker that holds 3,000 gallons. Our brush truck only holds 300 gallons (F-450). Brush fires for us are usually pretty minor.