I do not have panels on my rv, however, I do have 5kw on my home's roof. Outside of improper wiring, I have not heard of any fire-related issues on panels, themselves. What you have read, may suggest differently, however, IMHO I would just recommend doing your diligence in securing your wiring, selecting proper gauge, and using approved connectors to avoid shorts or faults.
One thing I've noticed with my home's panels is that their efficiency is very sensitive to thermal fluctuations (performance decreases as temps increase by as much as 20%).
Any extra material you might put underneath the panel, might actually act as an insulator and cause the panel to cool less efficiently, thus causing your total power output to decrease and/or increasing the potential for a failure due to overheating.
As I said, an RV panel might be completely different than what I'm experienced with, so my advice may be worth what you paid for it!