Lead-acid batteries don't like deep discharge, not even the deep cycle versions so avoid that. There is also no need to "cycle and recharge" them, just keep 'em fully charged.
A "smart" charger is mandatory for long battery life as is maintaining the electrolyte level.
This is one of the big reasons I put a solar system on the rv. I spent a little more than just replacing the batts would have been but now I don't have to take them out and store them, I use it year round as an office at my shooting range, I don't need to make charge them before we go camping, I don't need to go to a site with hookups and the I don't even bring my generator anymore. Makes camping much more enjoyable. I have a 136 watt panel BTW with morning star controller.