You will be fine, just think of it as an adventure and learn what you want (whether you want to be RVers or not). Your older child should be involved in some of the planning, perhaps even the younger one. Ask them to take on some responsibility (within their skills). We started when the kids were young and let them plan aspects of a trip. One year, our college age daughter did the meal planning and grocery shopping for us... we laughed when we realized that fact the first night and had no idea what was planned for dinner (daughter had change of plans and was on DCI drum corps tour instead of trip to Oregon coast). We still laugh about it since she insisted the meal plan was in the boxes of groceries somewhere and later she found the list in her drum corps papers... we made out fine.
That is my point, you are adults and likely are not going to do something stupid and everyone dies, you will survive and learn. You are creating memories and you chose whether they are fun memories or terrible.
Be flexible, things will come up that are not anticipated (and may cost some money you had not budgeted for). Don't let it ruin the trip. Your son's medications can be put in the refer (yes you can run it while on the road). You can turn it off when you stop to get fuel, please remember to turn it back on after leaving gas station.
Have a blast, learn all you can, enjoy the adventure and remember the toilet paper.
