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I agree with this that say to sit in the front seat with your seatbelt firmly attached. And have confidence in your DH's driving. That kind of situation is not all that easy to bring back onto the road successfully. And just for information, there are all sorts of good reasons that kind of thing can happen. Oncoming drivers, road hazards, narrow road, etc. The affect of hitting the low shoulder is much more dramatic on a heavy motorhome. And especially more dramatic when a passenger sits farther back from the front, and a swerve happens unexpectedly.

Get back on that horse. Suck it up. Overcome your fears. Your husband is not a bad driver. In fact, to me, it sounds like he is a pretty good driver.