I have had my RV for several years now and have just never gotten over the anxiety and feelings of terror that I get from preparing for a trip, worrying about all the things to check and recheck. The...
a "pre-flight" checklist, both for things to pack and mechanical things to check
take an RV driver training course; Lazydays offers them and probably others
a setup checklist for when you get to your campsite
another checklist for when you get home
purchase duplicates of items you want both at home and in your RV; for us we are even buying a second wardrobe that we will leave in our coach so it is ready to go within an hour! We also have duplicate kitchen appliances, dog bowls, cellphone chargers, etc. The only thing we aren't leaving in the coach are food and medicine but if we had shore power where we store it we would leave some food items in the fridge
plan for short travel days. And "short" has different meanings for different people. 500 miles is a short day for us but you might want to stop at 300 or less