I don't remove my non-perishables.
Canned goods last just as long in my RV as they do in my house. Why create extra work by moving them back and forth unnecessarily.
Dry goods, like pancake mix (just add water) and cream of wheat, get switched from the original bag/box to an airtight plastic container. I cut off the instructions from the bag/box and tape it to the container lid for easy reference. Never had a problem with bugs (do the same for dry goods at home).
Dry pasta gets put in an airtight plastic container also. Again, no problem with bugs that way. There is always an unopened jar of sauce in the pantry - once it's opened, it gets replaced. Spaghetti is a major RV staple for me - easy to fix and filling.
Peanut butter - it's really dependent upon your preferred brand. Some really need refrigeration. JIF brand does very well kept at room temp - doesn't separate or change flavor, and won't tear the bread.
Non-perishable snacks - I do have one kitchen drawer that holds snack size bags of crackers/cookies. Never had a problem with those, but don't keep a huge amount on hand.
Condiments - this used to be my biggest issue. I don't use ketchup, mustard, mayo at home really, but I do like burgers when camping. Once the container is opened, it must be refrigerated - and then by the time I used it again, it'd be bad. So now, I use
individual packets for all condiments (including salad dressing, parmesan cheese, etc.). They are guaranteed to last one year without refrigeration (salad dressing - 2-3 months). I buy a bunch and put them in a small plastic container, and then I just move that container from RV fridge to house fridge and back. Never worry about them going bad like with regular containers (one person can only use so much ketchup). Work great for picnics, get togethers, etc., also.
TIP: For those worried about opening a bad can of beans, canned goods have developed a very helpful tool. If the top of the can is "popped up", the beans are bad. If the top of the can is flat, the beans are good. It's really easy to run your hand over the cans and check. I do that every few months when I check my supplies.