I drive a 32' Itasca Cambria. I keep the tire pressure at 80 psi and the air bladder bags at 35 psi. When we are driving the RV seems to feel every asphalt repair, expansion joints, road damage, etc. ...
I own a 09 Cambria and experienced the same thing. I changed my shocks to Koni's and eliminated the rattling and banging.
There is a thread on shock absorber upgrades debating between Bilstein's and Koni's. Stock shock absorbers are worthless. I chased the issue with air pressure changes etc. The difference in ride was remarkable.