Wasn't an RV but I did the same thing to two different vans One I put headers on the other just replaced the one stock exhaust manifold. My present Mo Ho has banks on it. Headers and exhaust. Did it help performance? I don't know it was on the rig when I bought it. Let your check book be your guide. I understand where your headed , wanting more years for the best buck.And maybe a little preventative maintenance. Heat cycles and exhaust manifold bolts ,not a good combination.the first van I did the headers then took it to a muffler shop for exhaust . The 2nd van I took it to Ford.