I'd love it if something like that happened (though it's less fragmented than it looks; there's only a couple of major manufacturers which each having dozens of brands and a few billion in revenue, plus a few smaller brands fighting over the scraps). I'm a total nerd for RV history, and there have been pockets of innovation here and there in the history of the industry.
One of my favorites was when GMC, a real automaker with the ability to dictate the entire design and supply line, made a motorhome. See here for motorhome porn: http://gmcmotorhome.com/
And, it really did require a company that could control the entire thing to make something really innovative. The problem most motorhome makers face is that they all build on the same chassis from existing truck and bus makers. They don't build their own, and can't compete on that metric. So, they get a chassis with an engine and drivetrain from the manufacturer and then build a house on top of it.
GMC was able to lower the floor (with a front wheel drive design based on the Toronado car), and thus the roof, making it more like driving a long van rather than like a moving truck. They routed hot water lines through the engine, so you'd arrive at your destination and have hot water in the tank without need for running the propane water heater. It had an adjustable air bag suspension (like found on high end buses). And, it was all around beautiful to look at and had a high quality interior. But, that was 40 years ago, and the only made them for a few years; I still see them on the road now and then, and I've gotten a tour of a few over the years I've been on the road. I love them, but wouldn't want one, because I don't want to work on the damned thing every weekend just to keep it rolling. But, it's hard to argue that any modern motorhome looks as nice.
The reality is, or was, that GMC never achieved any kind of economies of scale with that experiment. They were so expensive that they didn't sell a lot of them, and RVs have never been mass-produced in the way cars are. Even the GMC was built by carpenters and plumbers in-place as if it were an apartment being built. Which is how RVs are built in Indiana today (most RVs in the US market are built in northern Indiana, and a lot of the parts manufacturers are there, too).
I've frequently considered starting a startup in the industry...but, it's also a really challenging industry. Very subject to economic boom and bust cycles, as many luxury goods are. It's an extremely capital intensive industry. The buyers aren't generally aware of innovation; they're retirees and they buy what the dealer recommends. So, it has all of the hard problems of starting an auto company, with few of the mass market benefits.
I doubt Elon Musk would be interested in doing anything in the space, but I'd love it if someone like that did. There's such a dearth of beauty in the industry. I bought a 34-year-old travel trailer (an Avion) specifically because most new travel trailers are ugly fiberglass boxes. Airstream still makes gorgeous trailers, but they cost as much as a house when purchased new. And, even though my trailer doesn't have a drivetrain to worry about, it's still more work to maintain than I wanted. I regret going with such an old RV and will be moving into something else eventually.
So, margins are high, and there are some big companies that operate in the space (Thor is the largest manufacturer, and owns about a third of the most popular RV brands, including Airstream; Fleetwood is the other big manufacturer; with Winnebago being maybe the biggest brand that isn't part of a large conglomerate). It's not impossible to make money there. But, it seems to be very difficult to innovate due to the capital costs and the priorities of the market. There were huge shake ups in the industry in ~2009, including a bankruptcy for Fleetwood (maybe others). But, as I understand it, the big ones are doing pretty well today.
I could talk for days about RVs. But, realistically, I don't know how to make a business, much less a truly innovative business, there without a tremendous capital outlay.