I've often thought the opposite. Tons of otherwise useable space is lost with rear axle and driveshaft for road going vehicles. Seems to me the optimal new RV configuration would be a FWD based platform, with help as needed from electric hub motors in the rear.
I see several significant advantages:
1. You get a completely blank slate for rear buildouts, a low floor flat floor build becomes a real possibility, as does monocoque or tube frame chassis from the cab back which would make the possible configurations and uses nearly endless.
2. The engine could be smaller than normal, only needing to provide enough sustained power to maintain cruising speed on the open road plus some extra for topping up batteries, and could be optimized around that much more narrow criteria. Acceleration would be aided by the electric rear drive as needed, such as getting up to speed or climbing hills. Also gives you all wheel drive capability if needed for getting unstuck or poor road conditions.
3. You have a giant battery bank already built in which is awesome for an RV. Less time having to be tied to shore power or running a generator, especially if you incorporate some solar.
4. Fuel efficiency should be drastically better due points to #1 and #2. Lower floor means less overall height for the same useable space. Couple this with the lower displacement / better optimized ICE up front, regenerative braking, etc... This would not end up being an insignificant difference. Also, depending on the specs of the batteries and electric motors, you could potentially drop some of the lower gears from the transmission. Or, keep the 6 (or however many speeds the trans would have) but make them very close ratio near the top end. IE, a gear optimized for 40mph, 50, 60, 65, 70, 75 mph which would allow one to tune the engine to a very narrow RPM range for maximum power with little displacement. Koenigsegg has taken it even a step farther on their Regera hypercar, eliminating the transmission completely.
The old GMC motorhomes were built somewhat along these lines, without the electric rear drive. Probably not ideal for the off-roading lots of you guys like to do, but for how most people use an RV, I'm really surprised to not see some manufacturers moving this way. Certainly not an entry level budget option, but with what some people spend on RVs... I'm surprised someone isn't going this route yet.