All lead-acid batteries self-discharge more or less, the rate depending on the battery type, health, temperature (faster at warmer temperatures), and perhaps other things as well.
Anyhow, there's no need to discharge them manually before recharging, and indeed doing so is harder on them than just recharging. That is not true for all battery types. NiCd batteries, in particular, typically benefit from occasional full discharges.
If you store the RV somewhere outdoors, a modest solar setup could keep the batteries all nicely maintained without additional work or worry.