WOW! Looks almost as bad as California!
There are some exemptions but I didn't see any that targets Motor homes.
Ok here is some tips for passing them first go around.
If the vehicle if FI and has close to 60K on it replace the O2 sensor. They are supose to be replaced every 60k. If you don't know how old it is then replace it.
Get the tanks run down and get fresh gas. Old stale gas can and will cause a fail.
New air filter if it has any more the 2k on it.
New PCV valve.
If it's running rough then it may need a tune up. Plugs for sure, inspect cap, rotor and meter the plug wires to be sure they are good.
Look for any problems with vacuum lines. A high idle may cause a fail. I could find where the spcified what's to high. A fully warm GM V8 should idle out of gear around 700-750rpm and in gear about 600-650.
Now when you get ready to go for the inspection do the following.
Run that sucker down the hwy for 10-15 minutes before going in for a test and DO NOT shut it down when you get there. Let it idle to keep the engine temp up. Two reasons for this. On a vehicle with a cat it's to keep the cat hot. Cats are not effective when cold. If the vehicle was to sit for a while not running it may drop engine temp enough to go back into "Open Loop". Open Loop is for the most part a Fuel injected "Choke". A engine running open loop will be running on a pre programed fuel map and it may not need it. Closed loop means the FI is using the O2 Sensor as to figure out optimum fuel mixture. Many people make the mistake of drive 1/2 mile to the test facility then shut it down. Vehicle never get's hot enough to go closed loop and will fail every time.
According to that site they also do a safety inspection for lights, brake lights, emergency flashers, Condition of exhaust system, etc. Read through that site and see what else applies for the inspection.
Now a big problem with this sort of inspection is your at the mearcy of the interpitation of the laws. My guess is your over 80 inches in width and there is clauses to what is inspected at that width. Get educated on what applies to this vehicle.