Yes, breakers can fail.
Its not a great idea in the first place to use a twin as the main and a heavily-loaded/continuously used branch circuit. Now you have 2x the heat in the same container since the same current passes through both sides. When a twin breaker is instead used for 2 branch circuits it's less likely (and in a 30A RV impossible) to have max current in both.
Since you have a spare slot for the branch circuit you already solved the problem. Otherwise I would have swapped a different 20A circuit that sees less frequent use with the one twined with the main if possible.