In our 16 years of full-timing we always kept a 'to go' case by the door behind the chair. We got a small portable safe with a handle. As a hidden safe it doesn't do much but it would be easy to grab in a second.
In it we have some important papers, a list of various cards (credit, insurance, etc.), passports, backup computer disks, extra keys, a small amount of cash,10 days of prescriptions (labeled and changed out regularly so they don't expire). Near the case and also near the front door is where we kept our phones, purse, wallet - easy to grab. When things are kept in the same place they won't be forgotten.
The case also went with us when we were getting any vehicle servicing done.
We would never rely on gathering up stuff in an emergency. It has to be ready. A RV fire explodes in a minute or two. If we happened to be sleeping and everything needed was by the door and we had to use the window to get out, no use worrying about it at that point. I suppose you could move everything to the bedroom at night and move it to the door during the day. We just never did that. Everything can be replaced but it could take more time to do so if we didn't have the above information.
In our daily drive vehicle we kept a form we created which states what our travel plans are - route, stops if you know them or a general route. Contact numbers for our kids. We also have a spot to note where our motorhome was parked if one of us would be in the towed vehicle alone (shopping, etc) so that if in an accident, ER personnel could find the other spouse easily.
We also gave our kids information of where we'd be traveling and stops, if known. We loved public parks, national forests and general boondocking spots in the wild. It would be hard to find us otherwise. Granted, we were full-timers and traveled constantly so sometimes didn't have a definite plan. When we got there we notified the kids where we were at. Perhaps they didn't even care
but we felt better doing it.