Well you guys survived the trip which is what matters. It's even better that you were able to get the furnace running for the second night.
Unless you specifically asked for a true deep cycle battery when purchasing, I can almost guarantee you that the batteries are the standard hybrid 12 batteries that you can get at Walmart, Napa, Autozone,or Camping World. That's not necessarily a bad thing, they just aren't as robust as a true deep cycle.
As you stated, your batteries are old you might want to consider replacing them soon. But since you stated that it is rare to not have power I would replace them with the same basic batteries. If you were going to do more frequent dry camping you might want to consider switching to 6 volt batteries. But in your case I think that would be a bit extreme.
With decent batteries you can typically count on one night of furnace per battery, unless it's extremely cold. So if yours were newer you would have been fine.