Do I have to take the dealer's word on the MSRP?

We went to Michigan a few weeks back to look at trucks and of course got looking at RV'S. For curiosity we priced one. The MFRP was right around 30K, within $200. The salesman came in with the first offer at 23K. We didn't go any further as we were really just looking but he had started a offer to purchase and said for us to go back to hotel and think about what our offer would be so they were willing to go a bit lower. It's a game, a game in which the dealer wins.