During my build when i found myself needing to mount something to the foam where i had neglected to install wood blocking(it happened more than I'd like to admit) I used these drywall anchors.

I squirted some glue on the plastic part and screwed in into the foam flush with the surface. After it dried I attached whatever it was that I was working on using the metal screw. I even used this method after my build was completely covered with the burlap outer skin and the final coat of paint was put on. Worked like a charm. They come in several lengths and sizes of screws.
Kind of hard to see in this picture, but i used this method to attach the aluminum drip edge above the vent in the lower rear side of the trailer. The vents were added after the outer finish was completed.
