If you RV has the physical 16 pin OBDII port then yes you can read what the computer reads emissions wise I am pretty sure.
First see if you have the port: all 1996 cars and light trucks were required to have diagnostic ports, but since you have a RV I am not so sure if you have one. Car and light diesels weren't required until 1997 (I used to own a 1996 Jetta TDI diesel because it was CA Smog Check exempt : ) and heavy duty engines are different story.
I don't think you are asking if you have a port, if the port looks like the OBDII ports on your passenger cars then yeah , your asking can you read stuff? I am hoping someone else chimes in here with real world experience on your model, but as far as I know (no experience with your chassis or even know what engine your running) if you have the OBDII port then you should at the minimum be able to read the emissions related sensors, which isn't bad because there weren't a whole lot of sensors on the older vehicles that weren't emission related. O2 sensors, temp sensors, EGR sensor, MAP and MASS Air sensor. Again I hope someone with more experience chimes. Here's another idea pull into one of those autopart stores that advertises free code reading, they can verify that you have the port and maybe see what diagnostic system they can read with their OBDII reader.