I would seriously question the part about signing the papers unless it was to cover their butts if you took it out and drove it and brought it back damaged,especially since you say you are looking at your first Class A. "You break it,you buy it" Especially a new high end coach like a Newmar.It is a whole new ball game driving anything as big as that.
When we were looking at for a class A after 20 years of pulling travel trailers as long as 35', only one dealer let us drive one and that was after we cleared the lot and were down the street and the salesman was someone I knew. None of the other 5 or 6,even let me behind the wheel,except when it was stopped. Not even the fact that I have a Class B CDL and had been driving tour and school buses for over ten years counted.