As an RV owner and a professional engineer, I would recommend that you place wide boards under your wheels when you park your RV. I would suggest you use 2" x 12" x 36". This will serve to bridge you wheel load pressure and preserve your driveway. This is what I have done on my own paver driveway. It has been in place for seven years with no issues. As per your question about breaking pavers, this will not happen. If the boards and RV are left in place for an extended period, you could have some staining that will wash away with a thorough scrubbing. On the other hand your tires directly on the driveway will permanently stain it.