The bad guys will most often just walk up and ring the doorbell. If no one answers and there is no movement inside the house, they will go around to the back and force their way in. Rarely are they "casing the joint" long enough to know if you have an RV or not, let alone know that it's gone.
The only bad guys who will target you based on an RV not being in the driveway are those that live in your neighborhood. Most likely they are your neighbor's teenage kids and their friends. They're going to know you're gone whether you store your RV at a lot or store it at home.
The best way to prevent burglary when you're not home is to have someone stay in your home while you're gone.
