I copied and pasted this from the NY DMV website
<BLOCKQUOTE class="ip-ubbcode-quote"><div class="ip-ubbcode-quote-title">quote:</div><div class="ip-ubbcode-quote-content">A driver with a Class D license can now operate a personal use vehicle (for example a rental vehicle or a recreational vehicle or RV) with a gross vehicle weight rating (GVWR) of 26,000 lbs. or less that tows another vehicle that has a GVWR of 10,000 lbs. or more, but the gross combined weight rating (GCWR) of the two vehicles together must be 26,000 lbs. or less.
Note: The requirement for an "R" endorsement (Class D or Class E license) to operate a recreational vehicle with a GVWR of 26,001 lbs. or more remains in effect.
Also, look at this form.
Maybe all that's needed is to request the 'R' endorsement and to pay a little extra. At the most you might have to take a written test and/or a driving test with the MH. They sure don't make this stuff easy to find out, do they?