Hi jjrowan - what does the motorhome weigh?
Our 5.9 powered pickup is rated at 300 hp / 660 torques and hauls truck/5th wheel combined weight of 22,999lbs at 45mph at part throttle up 8% grades.
A quick look at the Google suggests your engine may be rated in the 210 hp range at the moment. There should be a placard attached high on engine opposite to the exhaust side that states to original power rating and serial number.
First I would replace the fuel filters and check the air filter to makes sure fuel and air is not wanting.
The 5.9 can be modified to produce 600+ hp and 1300 torques reliably if you have the cooling system & transmission to handle it. Travelling over hill and dale at a mile a minute like a passenger car with a heavy vehicle only takes $$$'s nowadays.
If you choose to make modifications for power an idea might be to sit down and make a plan with a shop with a proven track record in towing / hauling / marine engine mods - conditions where engines operate reliably at full power for extended periods - that will give you reliable results for your money.
There will be lots of power options between what you have and the limit of the engine's capability.