Seems really odd that the exhaust pipe would drag. Are you sure it is not the molding under the steps that is dragging? That has been discussed here before, maybe a couple of years ago. Or possibly the generator exhaust pipe?
One of the great things about Vegas/Axis is that they don't have much overhang behind the rear wheels. Due to this, they are much less likely to drag than those longer coaches with the same wheelbase. With the exhaust right behind the tire mud flap, you would have to have a really sharp and deep dip to drag that engine exhaust pipe.
Experienced drivers will watch for dips leaving or entering a driveway, and look for an alternative driveway or at least try to take it at an angle. As always, easy does it.
Bad decisions make great stories!