Given the age of your rig, back in the late 90's, early 2000's, it was common for motor homes to have a 3500 pound hitch. Sometime around 2005, it was increased to 5000 pounds, and as of late, it's increased to 7500 pounds. I wonder if you might benefit from a stronger-rated hitch that happens to mount with more ground clearance. If you are handy enough to unbolt the old hitch and install the new hitch yourself, the cost to purchase the hitch alone won't be expensive.
Another observation...
Studying your last picture, your rollers are mounted in "extended" fashion. I wonder if you removed the extenders, they just might still make "first contact".
Assuming your rear springs are in good condition, as a minimum to address ground clearance, I would add 2" worth of spacers on each rear spring stack, and raise your two rollers by removing their extenders.
I would save the extra spring and air bags for later (if needed) because they will stiffen the rear suspension, adding extra stress on the house and it's seam work from the rougher ride.
Regarding "improved handling". I would start with heavy duty front and rear Helwig stabilizer bars (and heavy duty shocks right up next) and evaluate from there. They will provide your "best bang for the buck". They will also significant improve the safety of your rig, most notably in mountain and canyon driving by planting all your tires more firmly on the pavement for improved control and also improved braking power.
It is highly probable that your rear drum brakes will benefit immensely from a good manual adjustment process. If handy, you can do that yourself at home. Ask me if you want the details. Properly adjusted rear drum brakes on a motor home will significantly improve brake performance. If they don't do their share of the work, the front brakes will take on more work than designed for and they will lock up. On mountain and canyon roads, if they lock up during your turns, you are heading to the cliff. If you have anti-lock brakes (a good thing) the two front tires still can't slow down so much weight efficiently. Get your 4 rear tires doing their share of the work by adjusting the distance "tight" between the rear brake shoes and drums. I speak from personal experience with our previous motor home that was built on a Toyota chassis.