Hi Both
The guys you spoke to at C&E are talking complete rubbish !!
You can do the paperwork yourself - BUT, for ?100 or less I would suggest you do use a Shipping Agent in the UK.
The agent can submit the forms (by electronic means) BEFORE the ship docks, which will save several days wait. They are familiar with what is and isnt needed. They will keep you advised of whats happening and you have a dedicated person acting on your behalf rather than speaking with a different pen-pusher on each call. But, you can do it yourself.
I think C&E may have confused your RV shipment with a container shipment (ie full of hundreds/thousands of items which need clearance, duty checks and even air checks for illegal immigrants etc).
Your RV will be driven off the ship and may be stored in the transport yard for a day or two whilst paperwork is finalised. In fact, you will be charged storage if you dont collect it within a couple of days of being notified its ready.
Email Kathy at k.woollett {at} wainwrightgroup.com and she will go thru it all for you.
Hope it helps
Paul
EDIT Import details from HMRC (inc links to Forms) can be found
HERE