LOL... when I brought mine from MD to AZ, I drove it to the motor vehicle office to transfer ownership, thinking they’d at least want to verify the VIN. Nothing! Not even an emissions test in my county.
My sympathies to those living in nanny states...
I avoid RV dealers in general, though I’m sure there are good ones. How about shops that work on trucks? I know my Mom in MD used a garage for Roadtrek chassis services that seemed to do a lot of light and medium-duty truck work. Folks in my region like their big trucks, so my local Chevy dealer is able to handle it, though they warned me that not all can.
Call around. Shouldn’t be too hard- Class B’s aren’t so big, really.