By my literature in the MH, my tank is 163 gallons(don't know that I believe that or not) but I have put more than 100 gallons in before and I too have this Foaming issue. I have found that the passenger side accepts fuel better than the drivers, I also remove(at times) both fuel caps to allow extra breathing. I NEVER use the truck pumps and generally will stand near by the pump and listen to the sound...you can tell when it's nearing full by the sound(or at least I can).
I've had spills before by leaving the pump, and it's NO fun(those days were at the high flow pumps...it just did not shut down quick enough to prevent a spill and there's nothing worst than for the next guy to have to stand in even the driest spill of fuel.