We have traveled every inch of the BRP and Skyline Drive many times. I agree with what others have said about being careful what route you choose to exit. Some of these routes are REALLY steep and not RV friendly. Caution about the section from James River to Peaks of Otter. Steep climb for a few miles with a nice overlook at the top but don't pull up and then shut down the engine. You are building heat in your transmission and to shut the engine and cooling system down all of a sudden can result in it getting too hot and spilling transmission fluid on the ground........heat expansion. Just keep moving for a few miles and let things cool off before shutting down. This happened to us a few years ago. With these warnings being said, don't be afraid of this beautiful drive!! If you are not in a hurry this is the best route for your return. The speed limit is 35/40 and sometimes you may want to drive faster. Also be aware some overlook pull outs my be hard to turn your rig around in. Look for those that are pull thru rather than a parking lot.
Great campground at Mabry Mill..easy in/out and plenty of spaces. This is our favorite drive, enjoy!!