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Hi there. Absolutely---you and your husband would merely need to enter into a written agreement detailing his obligations and then set forth what if any ownership rights in the RV that those obligations entitle him to.
I hope this has given you the guidance you were seeking. I wish you the best of luck!
The information given here is not legal advice. As all states have different intricacies in their laws, the information given is general only. This communication does not establish an attorney-client relationship with you. I hope this answer has been helpful to you.
Yes, it would only need to be between the two of you. It would be helpful to have it notarized just in case someone challenges whether you both actually signed it later. And, if your husband was going to be getting an interest in the RV at some point as a result of his payments, he might want to file a UCC-1 with the Secretary of State to show that he does have a potential interest in the RV.