I assume if it is a Ford you have checked on a Ford ESP warranty? I have no idea if they market motorhome Ford warranties or not. If you can determine that answer on line then look up the Troy Ohio Ford dealership. They sell Ford ESP warranties about 30% cheaper than any other dealer in the country.
I just got a 5 year/70,000 miles bumper-bumper coach/chassis/engine/tranny from Pontiac RV (Pontiac IL) when I bought my 2014 used Challenger. It was less than $2,000. I don't have the paperwork here with me but if you call them they can give you the name of that warranty company.
Full Time in 2017 Newmar Ventana 4369
pulling a 24' enclosed (Mini Cooper/Harley/Kayak)
(traded 2014 Thor Challenger)
US Army 70-73 Retired LEO