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As a driving instructor, one of the things I teach people is "off road recovery". We intentionally have the student drop 2 wheels off the pavement and then drive back onto the pavement. Then we do all 4 wheels into the grass/gravel beside the driving track, then drive back on the pavement, we do these exercises at 55 mph and 65 mph.

All of this is done with an instructor in the passenger seat saying the instructions out loud as the student completes the exercise.

When done correctly, which happens when the student follows the instructions, someone riding in the back seat could not tell we have left the road and returned (other than the different sound of driving on grass/gravel as compared to pavement).

The students, who are often white knuckled and visibly nervous when they get in the car, come out of the car with the confidence and skills to successfully recover from running off the road.

Now, all that was said to say this to the OP...if you could ride in your RV through this exercise it would ease your fears and help you to be more at ease when you ride in your RV.

Finding a qualified person and a suitable place to conduct this exercise would be your biggest challenge.

Hints for successful off road recovery:

DO NOT attempt to steer back onto the road immediatly.
Take your foot off the gas.
Do not brake.
Let the car stabilize, keep your eyes looking well ahead so you can see the best place to return to the pavement (try to avoid coming back on at a place with a steep dropoff).
Slowly steer back onto the road.
Make no quick or drastic steering inputs.

Of course circumstances/conditions vary widely out on the open road so act accordingly.