Considering an alterante route to get to Whitehorse.  Would be a pretty drive, but I'm not sure how hard it would be on my camper. 

Day 1

Palmer to Tok 276 miles, 5.5 hours

Tok to AK border crossing 90 miles, 2 hours

Border to Beaver Creek (Campgrounds) 20 miles, .5 hours

Alternate: Tok to Dawson City 185 miles 7 hours (gravel)

Day 2

Beaver Creek to Haines Junction 180 miles 4 hours

Haines Junction to Whitehorse 96 miles, 2 hours

Alternate: Dawson to Crooked Creek: 111 miles, 3.5 hours (mostly paved)

Crooked Creek to Whitehorse: 220 miles, 4.5 hours