A couple degrees below freezing for an hour or two is unlikely to impact any plumbing inside the box with the heat on. Enough heat will radiate thru the base of the bed to more than compensate.
What I would look for is anything outside the box. Most common would be the drains for the black and gray tanks. Being completely clear of the box, they will gain little if any warmth from the heated box.
Really, the fresh water tank is going to be good even much colder as it's fully in the heated box. Plumbing fittings in or against exterior walls when it gets down into the low 20's is where you might want to consider opening cabinets to let heat get in to the pipes.