Our very first trip in our little motorhome saw temps down to -10 C, 15 F overnight and lots of snow. I was worried and did lots of checking - noticed the freshwater drain valve froze closed and put a mitt over it. Checked the taps inside several times during the night and left the furnace on and cupboard doors with pipes behind open. I had a jug of RV antifreeze ready in case we had to winterize. But all was well and we have never worried about -10 since. A remote thermometer is very handy for monitoring the temperature at what you guess is the most vulnerable pipe.
I should add that we have a kitchen sink drain pipe that runs across the underside with only the metal sheeting between pipe and outside world. The elbow on that pipe cracked the next year and it might have been due to lying water freezing in it (or due to that pipe system to the sink being too long and rigid for travel on rough roads). If you have a vulnerability like that you should be prepared to pour a cup or two of antifreeze down to help you sleep at night.