You might try a couple simple pillow cases over the backs. A sisal rope cat tree in the RV will help (as Ellen says don't put it next to the seats). Clipping their nails regularly will help also.
There's an easy way that 9 out of 10 cats will let you clip their nails without issue (my last standing cat is the 10th, the you should be good
😉 😞Set the cat on your lap like a child (butt at the back of your seat by your stomach, cat's back to your chest). Have regular finger nail clippers ready to go at your side. Talk to the cat and gently lift one paw - DO NOT pull the leg outstretched (that's what they don't like), just lift it up in the air lightly. Then lightly holding the paw, clip the nails on that foot. If the cat gets nervous, stop and just pet and cuddle a bit until it calms down. Then start where you left off. Do front feet first. You only have to do the back feet if they are kickers (mine is). After clipping all the necessary nails, pet and cuddle the cat in that position. If you get the cat used to that position BEFORE using it for clipping it's that much easier. No towels, no "hold the da*n cat down", no blood necessary.
1975 American Clipper RV with Dodge 360 (photo in profile)
1998 American Clipper Fold n Roll Folding Trailer
Both born in Morgan Hill, CA to Irv Perch (Daddy of the Aristocrat trailers)