Thanks for all the great posts. I will take all the information, recommendations and precautions to heart. Given the steady state of the tank fuel level and the lack of any odor or recurrence of the "whooshing" I'm thinking the relief valve was doing it's job.
If you can, check the temp in your propane compartment when driving and just after you stop and things "soak" for a few minutes. I was shocked by how warm my former Class C's tank area got until I took it upon myself to try to block some of the radiated exhaust heat.