You have two starting batteries that deal with the engine and "Truck" parts, and 3 completly independent HOUSE batteries that deal with "HOUSE" stuff.
Your question is : Can I just change the starting batteries:
The answer is YES
You went on to ask "Any problmes with mixing"
Answer: Does not apply, you have two DIFFERENT battery systems, you will not be mixing. Except when charging and that won't bother them at all since electrically they are fairly well separated even then.
If you are having starting problems with the RV, and all the batteries are the same, You might "Extend" things a bit by simply moving a couple jumpers.. Since you never boondock (per your words) move one or two of the house batteries to the starting bank, this will add their capacity and give you a bit more head room before you need to replace the chassis batteries.
I recently replaced both chassis and primary house batteries (They were fast approaching NINE, in fact they would both now be NINE (The chassis battery got there last AUG, the house, not till this month, replaced the Chassis in Dec or Jan, house Mar) they are different sizes, Original Chassis Workhorse branded (Chassis maker) Group 78, House, Interstate U-2200 twins (Two six volt batteries in series making one BIG 12 volt battery)
Current batteries are all DEKA, made in the USA, Still a G-78 and still a GC-2 size house. But they mix well under both generator or converter (Progressive Dynamics 9180+wizard) Charge,
Secondary house bank is,, 3 or 4 Group 29's.. Different brands and ages,, They also play nicely together.