For over a decade, we camped with a Cattle Dog and a full-sized Aussie (high-energy dogs). They did fine - we walked a lot :-) My dogs had what's known as a "bomb-proof recall" - when I called, they came, no matter what. I could call my dogs off a squirrel chase. That being said - if your dogs always listen - the world is one huge play yard. Any large shopping area with some grass is a good place for a quick game of fetch. Cabelas are the ultimate in huge places to run....LOL! Empty ball fields and parking lots. And stopping and playing with the dogs is good for your health, too.
If your dogs aren't 100% on the recall, dragging a long 1/4" check cord (25' of rope) helps remind them that they are still tethered...
The nice thing about a mid-trip romp is that when you arrive at your destination, the dogs aren't "wired".
The other thing I taught my dogs is that they weren't allowed out of the motorhome unless they had a leash on. Granted, they would stand on the steps, stretching to see what we were doing, but by golly, they were still "in". Dogs are smart, most can understand that the motorhome has a different set of rules.
Lastly - no barking! Some dogs who are protective-ish, can be alarmed by the close proximity of RV parks. You need to let them know that that is "normal".