This baby would probably do best with someone who wants a constant companion. I couldn't have kids so I have two little dogs, they are with me all the time and when I leave the house, they are fine without being crated, though sometime my Yorkie Jake has little pee accidents, but he usually hits the pee pad.
My other dog is a Maltipoo. They both bark, at people outside, UPS truck, garbage truck, motorcycles etc. it doesn't bother me. I never crate them.
I have a neighbor down the street, he has a Maltese, he keeps her crated all day even though he's retired and home. I don't understand it. And the little dog is mean and hates everyone, but I can't blame her with an owner and life like that.
Maybe just stop taking RV trips, there problem solved.
Or get a good trainer, but if your baby is a talker/barker, it may be part of their personality and you have to love and accept them or give them to someone who will.