Great to see someone else who appreciates a well-made bed! Retired military? I can't claim that, recruiter didn't like the recent history of 4 fractures in my right leg. I was raised by a Commander in the US Navy, flew in the Pacific. My beds don't have the same level of accessorizing as yours, but neat and properly tucked. My son (US Army) said his drill sergeant in AIT would find my methods acceptable! What a compliment.
As to an easy method within the confines of an RV? Two years with the trailer and 30+ nights a year ... I haven't found an easy way about it. I do look at it as my yoga and stretching each morning though! Wife likes the look of it, but leaves those details to me.