Lew, Around 1992 (I think this is when the CDL became required for commercial drivers) there was a window of opportunity to get the class B in a motorhome. Since no CDL B was required until mid year I think, if you took the written and scheduled a road test you could take the test without a learner's permit or a licensed driver to accompany you because it wasn't going to be required in NY until later in the year.

Then because of the outcry, NY dropped the requirement and only required an R endorsement, which you could get merely by affirming you drove a motorhome prior to the requirement.

Now, recently various states are starting to require the non-commercial B. I have no clue about a non commercial A for the folks driving RV trailers. I do think it should be a requirement.