Using the furnace while enroute is a problem when you arrive someplace where a spark is NOT recommended, such as a tunnel or at a refueling station. The danger is when a device sparks to relight a flame for the device (fridge, furnace, water heater, etc.) that's when things can go boom. If you precool the fridge and not turn on any of the other devices, then this is the safest. The other potential problem if you get in an accident that causes a propane line to burst and you have open propane tanks - well you get the idea, but this is such a rare occurrence.
I found that it takes about 20 minutes for water to heat up, I wear a sweater until the furnace heats things (or use electric heaters). I avoid opening the fridge, or put the sensitive contents in a cooler with ice if needed. We try and time our meal planning so that the fridge is empty by the time we get on the road and shop for cold food near our location.
I no longer travel with propane even turned on. I'm also a cheapskate, hating to purchase propane in favor of electricity which is mostly free in campgrounds I stay in. I use the electric options to save on propane.
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