When I was at Jiffy Lube in NW Houston (Louetta &Grant) a few months back, I saw a gentleman drive up with a DP for inspection and they were starting on it when I left. You might give your local store a call. Since I keep my rig down in Brazoria, I use B & D Automotive Inspection down there. The diesel inspection is essentially just the old brake and light sticker inspection, no emissions.
Any state sticker place can do motorhomes, motorcycles, as well as cars. I use "Quicker Sticker" or similar quick in/out places. They never drive it, just check lights, horn, wipers, etc. I had one have me do the airbrake leakdown test, but that was a fluke and at a truck stop type place.
2004 Itasca Meridian 36G
2004 HD Heritage Softail
College Station, TX