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From reading some of the postings here, I'm not sure I even want to get back in my coach...:E

Your DW messed up by drifting onto the shoulder...he over corrected and went into a deep drift swerve...I get that...first, why did he drift off the shoulder? Not paying attention, driving too fast, going around a curve, texting..? If he is usually a good driver you can overcome this fear...if not, you might be in trouble.

On to your "issue"...these boxes are pretty long compared to a car, so the further back you are the more you "feel" changes of direction. Think of a tail wagging the dog...because you were halfway back you felt the coach action more than you would have up front. Also, you were in the booth dinette which is not a body forming as the front seat. Secondly, remember you are over the steer wheels so things will "feel" different in turning. Finally, the passenger's view is much different than the driver's. I'm pretty good at knowing the limits of my coach and prefer to hug the shoulder line. This drove my DW nuts! One day she complained and I now move closer to the center line to give her some comfort. It does look different from the passenger's perspective. Easy advice I gave her was to look in the mirrors. She can easily tell how far I really am from the white line. It's worked for her and might for you.

As for the DH, and you too, my advice would be to plan further ahead, slow down to a comfortable speed and try it out, but sit up front where the "sway" is less noticeable and you have a shoulder harness.......good luck...Dennis