My sons used FW came equipped with brillo pads stuffed around some pipes in the compartments. The problem is that the full length steel underbelly was wide open around the dump pipes, drain rods, low points and a bunch of other stuff. Spray foam is excellent for sealing up everything. It all does no good though if you get done and miss one spot like where the propane pipe comes through the frame or something. It's no 5 minute job.
While I was going over everything I cut holes and made covers for the slide motor, dump valves etc for easy access in the future.