if you bought your rv and drove it home and havent made any chages to the charger, then yes son't leave it plugged in all the time.
when I get a trailer/5th part fo the deal is to remove the wfco converter and put in a good PD converter. with this I left my last set of batteries plugged in when ever I wasnt using them for 15 years before I had to change them out. of course you still have to keep an eye on your battery water level and top them up depending on the type of batteries. now this was with 6V GC2 batteries, the one from the dealer will never last that long no matter how good you re to it.
Steve