I also support the idea that the repair should not diminish the value of the motor home. One thing I would surely do is to take real good pictures so if it comes up later when selling the rig, you have the damage well documented. Prospective buyer imagination will envision much worse than actual damage. I do that with all damage done to my own vehicles.
I too support letting the Ford dealer handle the repair because their reputation is on the line so you'll have a better chance of the repairs done right.
I would surely NOT inform my own insurance company. Our AARP Hartford insurance documents inquiries and raises rates accordingly even though a claim is NOT filed. They told us our home owner insurance increased because we asked if a downed-tree would be covered. I took care of the tree myself. I was furious, but in the end kept them after shopping around didn't yield enough benefit.....YET! They are crooks over there at Hartford for AARP members.