Just like belly buttons, everyone has an opinion and they are all opinions. My "opinion" is that you made things worse by starting the coach but not driving it as you never would have gotten the engine up to operating temperatures and this is worse than doing nothing at all. Having that knowledge at hand, my opinion is that you change the oil before heading out. Even if my opinion is wrong, the cost of doing so is so small compared to the price of owning an RV that you will not remember this as even the slightest event in the future.
Do what will make you feel good going forward as everyone here is simply giving you "their" take on the situation as they see it.