I can understand your concern and rosie's suggestion is a good one if you haven't already done that.
We have a motorcaravan and my solution is to make sure that I can drive it comfortably. If you can at least drive the tow car, you can probably cope with what ever you need to do. When it comes down to it, you and your DH are the important things and if you have to temporarily abandon the caravan it won't be the end of the world.
I'm not sure how much help insurance would be to me unless I needed the motorcaravan or caravan rescued, but I think family and friends would help with that, fortunately. My concern would be being able to get to the doctor, the hospital or to get home if necessary.