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To be very honest, the only difference between a voluntary and involuntary repo is that the creditor doesn't have to come and physically take possession of the RV. Other than that, the process is the same. The RV is auctioned at public auction to the highest bidder and then the creditor can sue the borrower for any deficiency between what is owed and what it sold for.
Whether they would try to sue you depends on what assets you have and whether you have income they could go after. If your income is Social Security and you don't have much along the line of assets, then they may simply let it go and write off the loss since they won't want to spend thousands on an attorney suing you to get a judgment that they can't collect on.