So glad no one was hurt, when that possibility was so great!
Looks like you have an older RV, might be time for some serious TLC on the driveline, just to be sure. Tires, exhaust, brake lines and cooling systems come to mind.
Me? My RV is a '63, I know a little about TLC! Preventive maintenance is always cheaper than repair!
Best of luck with your next FW trip!