No way, there are just to many quirky things about RV's. To many things that can go wrong, clipping a curb and bending an axle, leaving the antenae up and breaking it. Wrecks, even just minor fender benders from not being used to towing a 30' box. Forgetting to store things and damaging inside on the road.
I'd never ask someone to borrow an RV, or boat, there is just to big a chance of messing something up accidentally be know knowing things. The fact that they would ask tells me they don't know enough to handle it.