I have not posted this in a while and there are lot's of folks who have not RVed with their dogs.
While I know that some places do not allow you to have a dog yard, most do.
I have been using this set up for close to 20 years with my, various, RV's (xpens with mats for 44 years).
First (if it is allowed) I put down two 9' x 12' mats (I have a 34' coach). The mats come in all sizes and you can customize what works for you and your price range.
https://www.amazon.com/s?k=RV+outdoo...f=nb_sb_noss_1
Then I add my xpens. I have two with gates so that I can go out the front or back. There are some really beautiful fence options now and I wish that I could use them. I can not for two reasons: they weigh twice as much as my standard xpens and I am disabled and carrying them would present a problem. I have pool noodles that I have cut in half length wise and put over the top of the xpen that runs alongside the coach. This way I do not scratch it. Here is an example of the type of xpen that I use:
https://www.amazon.com/Petmate-Exerc...%2C193&sr=8-10
If you have toy dogs (which I have a few), you do not want to go below a 30" xpen in case of a loose, big, dog. They can reach across an 18" or 24" xpen and grab your dog before you can even react that the dog is there (I know that loose dogs are not allowed but it happens all the time).
I want my dogs to run in and out of the door so I enclose behind the stairs so that they can.
I purchased this from Amazon:
https://www.amazon.com/AmazonBasics-...NsaWNrPXRydWU=
Those panels go behind my steps and I use these clips to secure each of the cubby panels to each other and then to the xpen on each side of the door (do this while door is closed so xpen is behind door when it opens).
https://www.amazon.com/dp/B06XFX5H67...v_ov_lig_dp_it
As there is no way to know how level a site will be, I have also cut several in half. Having the cubby panels allows you to add as many panels as you need to. Sometimes there might be a hollow and other times a raised area.
Below is a diagram for visualization.