The danger if  you leave it plugged in is that the RV's electrical needs will flatten the Truck's battery.. Of course the truck SHOULD have a device called an isolator (it is very easy to check if it does) which functions to prevent this.
How to test
you need a test light.
This is a ice pick like thing with a lamp in the handle and a wire lead
Ground the wire lead (Any  handy ground point)
Touch all 7 pins in the truck's connector, one at a time  (engine off, no lights on, no brakes on save perhaps the parking brake)
NO LIGHT.. GOOD It's working.
ONLY unplug if you unhook.. If you unplug and do not unhook it is possible you may forget to re-plug.