Yes , I can only go on my prior experience as a commercial driver, not mechanic, that would say the average RV’er would never need to change the brakes out. 200,000 miles is I believe a realistic number. This is of course for a heavy duty air brake system.
If you ride the brakes , have a lot of mountain driving without proper Jake/ Exhaust Brake use, or any of a large list you may not get there. A competent inspection should quickly determine pad thickness and / or if a adjustment is needed. If in fact your pedal pressure needed is increasing it needs something. Get it looked at . I’ve never paid to have the brakes replaced , but like all things DP I can believe it “ain’t” . Cheap to have done.