My guess? There is a 30 amp automatic reset circuit breaker on many RV's to prevent overload of the wire going to the trailer battery. So lets say that the battery voltage was 11.0 on the RV and 14.5 on the truck. It will charge at the max amperage for a while, and might drag down the battery voltage on the dash gauge for a little while, then the 30 amp breaker trips, then voltage goes back up to 14.5 volts.
You might also have some big draw on the batteries that is intermittent too. This can drop your output voltage for the time that it takes to run that item. Such as electric seat heaters, or some other load. Did you run the A/C at that time? Perhaps a failing clutch on the air conditioner caused it to draw down the voltage for a little while.
Next time you see the voltage loss, try shutting off the A/C and see if the voltage goes up suddenly. Either way, it is important to shut off not needed loads while the voltage is less than 11.5 volts anyway.
A friend with a Gm had a problem with his alternator. I had told him that if you put on the emergency brake that the daytime running lights will go off. So when his failed, he drove it home with the emergency brake on 1 click. (I would not recommend that - but he did make it home and not overheating of his brakes either).
It starts making solar look better and better. That will take care of charging your RV battery and lessen the loads on the engine alternator.
Good luck!
Fred.