From what you wanted those panels are fine. At some future date you might do something different, but you're good to go for now.
What's being suggested is that a PWM controller passes the amps from the panel but at the battery charge voltage say 14.4V. So in the best of conditions you won't get 158W. With conditions rarely being ideal the PWM will continue to pass the panel amps, however.
MPPT takes the panel amps and voltage, converts it to battery voltage with more amps than the panel supplied. But it cost more and has a higher efficiency loss.
MPPT works well when paired with higher voltage panels. With the overall solar awareness these panels prices are dropping faster than 12V panels in terms of $/watt. These panels are often 39x65" and hence have more space restrictions on a RV roof.