There is the possibility that if there is not a isolation transformer, that there could be a problem. But as you stated, nothing wrong so far.
So likely you have the proper equipment to charge the battery safely, or it would have tripped the 20 amp input circuit breaker soon after plugging in the second charger.
The 'risk' would be that overcharging the battery will boil away more water. However a controlled overcharging to say 14.4 volts is 'good' for a battery perhaps twice a year. This will break up any excess battery plate build up, and restore the battery to near new condition for a while.
So why are they telling you that it is bad? Well it can be bad, if you do not check the battery water level before and after a controlled overcharge. Also smoking during the controlled overcharge or any sparks around the additional hydrogen going out of the boiling water of the battery can explode. Leave it vented, and not over 13.8 volts, and everything is safe. Enclose the battery, or something, and it can become a danger. . .
Personally? I use a solar charger to keep my battery full on a daily basis. I do not need to use a second charger, in fact my built in 70 amp charger is rarely used.
If I did not have the solar, I would use the built in charger that came with the RV (normally 45+ amps) and a second charger is not normally needed. My friend with a 1987 class C had to use a portable charger to keep generator run time to a minimum. Before about 1995, most RV's had 'converters' and not good electronic voltage regulated high amperage chargers. That has changed, and if your RV is newer than 1995, then the built in charger is enough to charge the battery quickly, and no need for the portable one. Yet the portable one is safe, if you are not going over 13.8 volts, or if at 14.4 volts for a short time is only safe if you know that the battery plates are not dry, and excess hydrogen is well vented!
Fred.