Our first Class C had a cobbed-up exhaust system and a bent crossover pipe. I found where Flowmastermufflers.com listed a complete kit. When it arrived, the discharge (oversized polished stainless tip - nice!) was behind the wheels instead of near the bumper. It worked out fine.
I was ready to have a local muffler shop make a "custom" exhaust when I found I could get the kit for about the same price. I had to put in a day of install time but the FM kit was quality goods. Full 3" pipe, aluminized, with "mandrel bends." That means full size all the way through, no kinky corners. And the muffler, called "Big Block II", was a heavy, massive, all-welded unit.
The reason the Chassis Brand matters, is in some cases you can order parts fitted to the exact application. In a Class A gasser, the most common parts will be the Chevy P3x group, then the Ford F53. Exact parts for Dodge are going to be rare. I used to fix school buses. There were "over axle" pipes that came in what I'll call "halves." You clamped them together over the axle and the two-piece approach let you change the side-to-side spacing. Still an awkward compromise.
I don't think I'd suggest you exit the exhaust midship (forward of the wheels) on a motorhome. There are too many places in the body for exhaust to leak in as you drive.
Oh, all the Class C kits MF had were single with 3" pipe and muffler. Some of the Class A kits were duals. If your Dodge has the 440 engine, I'd say go to 3". You won't need duals. I think the C kits were single only because there's so much stuff under the body in the way. We had a 460 Ford and single 3" was plenty. 2-1/2" would work for a 360. We had a Dodge van with 360 and used a medium truck muffler with 2-1/2" in and out, with that size tailpipe.