My wife agreed when we bought our rig that she would drive as much as I. To minimize fatigue and to maximize safety, neither of us drives longer than two hours at a stretch, so on road trips, we switch off regularly.
I do most of the backing, particularly into campsites, but she is practiced at that as well. An afternoon with several cones and an empty parking lot helped her learn how to maneuver the rig into tight spaces, frontwards and backwards. The practice didn't hurt me, either.
We figure that either of could become ill or get hurt on any trip, so the other might need to do most of hitching and driving alone. We're prepared. It doesn't hurt that our teenage daughter has become an expert at hitching/unhitching and setup/tear down. Three eyes on the entire process keeps everything safer.