My wife drives occasionally towing our 35' 5er. No lessons. I just asked her once if she would like to drive a little. To my surprise she said yes. And she actually liked it. She doesn't pull it into campgrounds. She doesn't back it. She doesn't drive it on smaller roads and streets except on main roads passing thru towns. I plan it so that I pull into rest areas or wide pull offs to let her take over on open highway. And we make the same type stop when I am ready to take back over. Makes the driving easy for her. About the only thing I remind her is to take wide turns to stay away from curbs.
Works for us. She may sometimes drive a 2 hour stretch between stops to stretch our legs. Especially nice on those occasional days we may be on the road 8-10 hours.