Every cat is different. I don’t think you can teach them to like RV travel but they can get used to it.
The first few motor home trips I took with my middle aged indoor cat I put him in a large wire dog crate along with a soft rug and one of his cat beds. He yowled continuously. Next trip thinking he might be afraid because he thought I left him, I moved his crate so he could see me. He yowled continuously and pushed his paws through the wire reaching for me. Next trip, since he likes to burrow, I thought he might feel more secure if I covered the crate. He yowled continuously. Finally I couldn’t take the noise anymore. I let him out and told him “You know if we get in a wreck you’re toast.” He flopped down on a dinette cushion and stared at me, totally relaxed. When I started the engine he ran to the back, burrowed under the bed covers and slept there until we stopped.
That’s now our routine. I put him in the bathroom when the slides are going in or out. He sleeps under the covers when the engine is running. When we stop for the night he strolls out and jumps on the dash to see where we are. I am lucky that he doesn’t try to get out. I do use a carrier when I take him in and out of the motor home. He does wear a collar with my phone numbers and is microchipped.