ready to trade up
When we first got the 5th wheel, my significant other tried riding in it. My 5er, like many, has no shocks, and she got airborne with every bump we hit, and that was in the city. One time we were still driving late at night and she insisted on going in on the bed and said it was quite pleasant. Probably because it is over the rear wheels of the truck and gets benefits from the truck shocks.
Generally, don't do it for legal and practical reasons. If you need to do it, look into adding shocks to your trailer (I think kits are available at reasonable cost) and HAVE AN INTERCOM SYSTEM (required by common sense for sure, and some states, I think). FRS radios may be adequate, as long as they have a loud, distinctive, call alert tone you can hear over road noise/radio/etc. We use the Kenwood units; pricey but top notch. If your radios don't have this feature, both parties wearing a headset or earphone may suffice.
As for towing with a RV, be very careful of the tow rating and CCC (Cargo Carrying Capacity, figured by subtracting curb weight of the RV from the GVW). Some RVs, particularly the class Cs, can't carry or tow much.