Engines have improved a lot in MOST vehicles. For instance a new Corvette, with approximately 500 HP will get mileage that is close to what a VW Beetle got in the 60's. The Ford V10 in a pick-up truck will get mileage in the 20+ range if driven conservatively.
When you look at the RV industry, which makes up a very very small percentage of total vehicles on the road, and you use similar engines, in vehicles with zero aerodynamic styling, that weigh 5+ times as much, plus towing another vehicle, something has to suffer. The vehicles like the Mercedes Sprinter RV's get better mileage because they are smaller, lighter, and have less wind resistance. If you want better mileage, what are you willing to give up?