We hired a guy. He met us at the dealership and we parallel parked for a few hours. I've driven straight trucks and we're former live aboard boaters. My wife would not touch the helm.
Part of the deal to RV was that she learn to drive so we hired a guy.
He showed us the pre check,lights reasons etc. Good refresher on why lines on the road are where they are. He covered all of the local road conditions and we did a great deal of backing. Also learned that RV parks are not necessarily MH friendly but that even the tight spaces can be dealt with. We do use hand signals. We're used to silence from boating. I could not see her on the dock when she was tying up and we never said a word. Boats were something I grew through.
We kind of landed feet first in this and the instructor in our case was worth his weight in gold. I've called him back with questions and he's always happy to help.
No scratches so far. I think it depends on your situation though.