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WOW you guys are a tough crowd! She's asking for advice so she's not afraid and not having anxiety attacks.

K my best advice is to hit the bottle, I find drinking hard and heavy helps to deal with many problems like the ones you're facing.
I hope this helps!

Same thing would happen in a C.

Trade it for a motorcycle, and ride behind DH. You'll be glad to get in the coach.
Seriously, I think DH should get some practice in a big parking lot, or on some quiet roads. You might feel better being in the passenger seat. That way you can brace yourself, if there is a road hazard. If he can't drive it safely, you shouldn't be a passenger, anyway.

Take an RV driving course?

Maybe the smaller and easier drive size is better suited for you and hubby?

I was wearing my seat belt in the booth but it was a pretty big swerve.

I cant help someone drive what they payed a $110k+ for. Just drive it...