Lead acid batteries are healthiest and will last longest when kept 100% charged. Lead acid batteries DO self discharge. A battery maintainer will keep them charged. The best thing to do is disconnect the batteries from any parasitic load and put them on a maintainer (in case the maintainer gets inadvertently disconnected).
You can mount a battery maintainer (or 2 depending on how you're set up) permanently in the RV so all you have to do is plug in. I have a NOCO Genius 10 amp charger maintainer in mine mounted in the battery compartment. It's also my backup 12 volt power source in the (unlikely) event of a converter failure. You can get less expensive ones that output less just for maintaining. I have a Battery Minder mounted permanently under the hood of the toad.
If you do not have the logistics to plug in, then just charge the batteries completely and disconnect them from any load.