An adult human body releases about 5 cups of water into the air per day plus you have moisture caused pets, cooking and showering. That's a lot inside the small confined space of an RV and it must be removed otherwise you will get mold, rot in framing (metal exteriors) or delamination (fiberglass exteriors). Knowing that, you need to take steps to remove the moisture.
Never seal up the cracks and gaps in walls, ceilings or weep holes in windows. Turning up the furnace does not help and besides, the higher the air temp. the more moisture it will hold. As mentioned above, crack open roof vents and windows. If you have a fan with speed control, keep it running (on low). The best thing is a dehumidifier. A hygrometer to monitor humidity level is a good idea and don't cost much. Opening cabinet doors can help so you can get some air movement in them.
They really don't design RVs to cope with winter camping/living. Besides ventilation, the way they build them there is no vapor barrier on the warm side of a wall or ceiling like in house so moisture migrates to the exterior skin and roof where it is cold and condenses leading to serious consequences. As well, when moisture gets into insulation, it loses R-value.