Gas engines towing high walled RVs means 8-10mpg. Diesels 12-14mpg. As mentioend, weight is a factor when accelerating, but most RVers travel highways at 60-65mph where aerodynamic drag is the fuel cost. 4000 pounds or 10000 pounds, same FE for the same truck, assuming it has the capability.
It is wise to consider the TV and RV combo at the same time. IMHO, a very capable half ton should be the minimum TV. A couple get about 17mpg mixed, about the same as my last minivan and the same as most mid sizers. They have the capability to comfortably handle the size and weight of RVs. If youare considering 5000 pounds loaded RV, 4k dry, then check out the 2014 Jeep Grand Cherokee diesel and VW Touareg TDI. They should both drive and tow very well while offering improved fuel economy (15mpg towing, 25-30 non towing).