It is rare that a secondary UD cable carries a RHW rating. Mobile Home Feeder (MHF) is the most common direct bury cable that also carries the RHW rating. When looking at URD listed cable you need to make sure of the markings as to whether it's allowed to be run inside of the structure. If it carries just a USE type then it's not allowed inside.
Edit: If it has the code name "****", you have the wrong wire to be inside the house and garage.
EDIT Edit: I see there are some manufacturers that have code name "****" wire that has the RHH/RHW rating, one is Cerrowire. My experience has been "****" URD has only been USE-2 only. Live and learn and things change.