We have a motorhome and take our "kids" with us. They LOVE it!!! When ever they see us putting anything into the thing...they freek...They want to go now.
I too have a first aid kit for them. Mine are tinys so I have NutraCal incase of hyperglicemia(sp) a pair of scissors, brush and tweezers incase of a burr. a small bottle of pepto for a tummy ache. I haven't had to use it yet. lol
I too use 2 xpens together. I make sure I pick up ANYthing that they might try to chew, sticks, pebbles, clumps of cut grass.
The great thing about the motorhome (what ever you have) is that it is yours and theirs and they get used to it just like home and get very comfortable. I take favorite toys and even a set of their steps so they can get up on the dinette seat.
I too am in Ohio and am working on getting to all the state parks.

They love the attention but I keep a CLOSE eye on them at all times. I can not impress that enough. For their safety concerning wild animals as well as other people's dogs. Sometime other people do not use good sense and you have to be there for your baby.
I have a great time with them and see this as a long term pleasure for both my husband and our 4 little ones
By the way some Ohio State Parks have areas that are non pet as well as pet sites so if someone is not an animal person they aren't bothered....well, and neither am I by them quite frankly.