First RV (old class A), and want to take it to Yellowstone

Tires are most important look that the threads on these boards for more. Other than that go if it breaks, fix it.
Your insurance carrier or others offer cheap tow coverage I would do this without a doubt. If you break down they will at least get you safe and to a place to determine your next move.
Being broke down is one thing. But on the side of the f way and not sure how or what to do sucks. A $1500.00 tow costs $50.00 or even 0 with most major carriers.
Keep us posted on your adventures.
jw