One thing to ask yourself is do you worry about most everything even while at home or is it just the RV?
wa8yxm above in his post stated it well. While at home work it out in your mind or on paper as to being prepared for what you'd do if something goes wrong while traveling. Then you'll have an instant remedy and you won't have to worry about it constantly. Have you actually had a lot of serious things go wrong? If not, then the likelihood isn't great.
We traveled constantly full-time for 16 years. Yes, we had mishaps but we always laughed afterward.... like falling through a septic tank. :)Really. We spent 4 months traveling to Alaska and didn't make any unusual preparations like folks warned such as carrying spare parts, spare tires or wrapping the RV in Styrofoam so it wouldn't get scratched. We had absolutely no issues during the whole stay. We also didn't make reservations except for two very popular stops & only made those a couple weeks prior when we could better judge when we'd be in the area.
Since you posted in the Class A forum I assume you have a motorhome. That's a perk of motorhomes... if you have a breakdown you can unhook your towed vehicle and drive somewhere, if needed. If you need repairs you can spend the night at the RV repair (most will let you, some with hookups) and you'll have your car to do some siteseeing or whatever while they do the repairs.
I hope you can overcome it somewhat and continue with your RVing if you truly enjoy it when you get there!