This has me hopping mad! I've been a USAA member for a LOT of years (40+) and always had my TT insured through them. Now they're out of the RV segment and have partnered with Progressive for that. ...
I believe Lance does lots of business in states where campers are titled, registered, and licensed as vehicles. They also must realize campers sold in the "cargo" states might end up elsewhere, and I suspect they provide lighted license plate hangers and certificates of origin for all campers. I believe what you are calling a serial number can equally be called a VIN.
I use State Farm for vehicles, home, and umbrella. No claims yet regarding a camper.