Brian,
That filter has a screw-on bowl at the bottom. If you're sure it doesn't have a drain valve in the bottom of the bowl, you could remove the bowl and dump out whatever is in there. Be sure to use a bucket or something similar under the filter when you remove the bowl because you'll get more than just the contents of the bowl coming out. If you have your owners manual, please check something before removing the bowl .... Look for something that tells you if the fuel filter needs to be filled (with fuel) before replacing it, or if the fuel pump will take care of filling the filter. One thing you don't need is air in there that can't be overcome by the fuel pump.
As for driving it as is, your choice. It could be just fine, but you just don't know how much water is in there. If you've been using the coach, my guess is that there's not much water in there and you could drive it, assuming you haven't taken on a load of fuel that had water in it. If so, all bets are off. As I said, your choice.