It is hard to answer this question without knowing more, are we talking a new coach, a used one, how old, etc.
Having said that, yes get an independent inspection, you can use the inspector locator tool at nrvia.org to locate one. Once you locate an inspector (use a level 2 inspector) , call them talk with them and see if you feel comfortable with them. Explain your situation, and go from there, particularly if this is an older used coach, talk with the inspector about what level of wear you are comfortable with as the NRVIA standards are to write up and photograph anything that looks to be in less than new perfect condition. As a result a by the book inspection on an older coach could end up showing page after page of small dings, chips, wear marks, etc. As there is good, then there is good for its age, etc.
As to the drivers seat, assume is it cheap, uncomfortable, worn out and sagging as the RV industry tends to install the cheapest seats they can find, and budget to install something better, though exactly what that might be is hard to say without knowing if we are talking about a Class A, Class C, etc. One popular choice in retrofit driver seating for class A coaches, is to use the second row captain seats out of a Toyota Sienna here is one random link to someone that has done this
Toyota Sienna Seats in an RV - Part 1: The Passenger Seat