I am also the DW and do almost all the driving/towing. DH is a "flyover" type so to get him into RVing I stepped him up from conversion van to tent to teardrop and he is hooked. He is great at backing up trailers, but there is something about being high up in the van freaks him out. After freaking myself out with long exhausting drives, white knuckle drives I limit driving to 4 hours when I am alone and 5 hours with DH driving the extra.
I think it is most important that people (especially women) be told "yes, of course you can do this, it just takes practice". I take it slow and let the traffic flow around me and learn a little breath control. I have found anxiety increases with increasing speed and forcing myself into frequent passing/changing lanes. I do avoid backing up whenever possible and look for pull thru sites. I just got thru pulling a little 13' trailer from Wisconsin down to Florida for a friend. So I am going to be teaching her how to drive/tow in the coming weeks. I may suggest a driving school to her... will see how it goes.