Tossing a bit more out for consideration… The Family Motor Coach Assoc (FMCA) has changed and is now accepting any type of RV. I have many friends in the motorhome community who speak exceedingly high about the organization. My only personal experience with them was as an observer. While boating Lake Powell, one of the party developed sepsis and was close to death. FMCA covered the helicopter medevac, transported the spouse to the hospital in Flagstaff, and had the coach and boat delivered to their home in San Diego.
I suspect their fees are competitive with USAA & Good Sam, but due diligence would be in order.