Here's one unorthodox method that might work (I haven't tried it, but it sounds good on paper). It won't work if you have a check valve on the water heater output, which I think some do for some winterizing setups...but without a winterizing setup I don't think you'd have a check valve there:
Fill water heater tank normally, shut off water to RV, and make sure the water pump is off.
Open the kitchen sink hot water tap (nothing much should come out, of course).
Assuming you have access, disconnect the hot wate flex host from the kitchen sink faucet and dunk it in a pail or pot of your vinegar solution. If you don't have access to do that, it ought to work by rigging up a hose from the faucet to the pail or whatever and opening the hot tap.
Remove the drain plug from the water heater. The water in it drains out, and pulls in the vinegar solution via syphonic action. Replace the plug when appropriate and fill up the water heater to the top with water in the usual way--of course, you need to replace the faucet hose etc. before filling.
There's of course nothing magical about the kitchen sink vs. other hot water taps; it's just more likely to be accessible and, at least on my RV, is closest to the water heater. Showers might give trouble due to vacuum breakers.