One thing about expansion foam, make sure you leave an adequate air vent or void for the foam to expand. Otherwise, the foam could "bloat" the wall, causing it to push the wall out.
Unfortunately, I do have some experience in that. Not in a RV, but one time I built a small boat and wanted to fill it with foam for buoyancy. I used expanding foam and it blew out the sides of the plywood hull... as I overfilled it, and there was not enough strength in the structure to keep the foam from expanding the sides of the hull.
Perhaps by using just a bit of foam at a time and see how much it expands, you could probably control how much the foam so that it does not push out on the walls - which of course are thin.
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