I would get myself a good 3-stage desulfator charger if you don't already have one.
The desulfator mode takes 24 hrs. to clean the plates and possibly bring back some life to them.
I would remove them from the camper and charge each battery individually and go have them load tested.
If you make a habit of allowing batteries to drop to 10.6 volts, I would think that alone will shorten its life or maybe kill it .
If you make it a habit to properly keep the batteries fully charged it should give you longer battery life.
rv net infoHere are some chargers :
http://www.amazon.com/s/?ie=UTF8&keywords=battery+desulfator+charger&tag=googhydr-20&index=aps&hvadid=37306925825&hvpos=1t1&hvexid=&hvnetw=g&hvrand=4019140207155288599&hvpone=&hvptwo=&hvqmt=b&hvdev=c&ref=pd_sl_22hgj56a4e_bBob