dsmith3..... You have no choice. Either winterize after every winter use of the RV or keep the heat set so the pipes will never see freezing temps. Winterizing is like being pregnant ....... either it is or isn't.
If money is not a consideration, then setting the heat and keeping the propane tanks full might be the easiest option. You can also use an electric heater to supplement the heat, but you do want heat to run thru the floor from the furnace to keep pipes and tanks above freezing. Also remember that if you keep certain food, drinks and medicine in your RV they may require 32 degree or above storage.
I never found the taste of pink stuff very objectionable as it went away quickly. Bleach taste lasted longer after I sanitized the water system.