Generator, yes, mainly for the brushes and slip rings (which can get some corrosion on them over time and that causes problems). I run it for 15 or 20 minutes under load (an electric heater) maybe every month.
For the main engine, starting it and idling it for a while will most likely do more harm than good. A reasonable lengthy drive might help keep things moving, but that implies something other than winter storage. Simply starting and idling does nothing for the transmission and rest of the drivetrain, and usually doesn't let the engine come up to full operating temperature for long enough to drive much condensation or other volatile contaminants out of the oil.
The vast majority of engine wear occurs before it's fully warmed up--something like 90%, I've read, is in the first 20 minutes after a cold start typically. That's admittedly probably not a big concern for many motorhomes as they're much more likely to have the house part wear out long before the engine and transmission do.