Following on from glc, do you own the RV, or will you be renting?
Mo reputable rental company would allow you to take passengers for which the RV does not have a seat and seatbelt.
Contrary to what some believe, children cannot be allowed to play, nor sleep while the RV is moving. This is the law in every State. But even if it were not the law, would you risk the life and wellbeing of your children in an unforeseen moment. Even hard braking could see them thrown about in the RV, and sustain life threatening injuries
Lifey