The cartridge bearings in most new vehicles (on front axles) is a totally different animal than a trailer bearing. The construction is not the same, hence, wear and durability are also different.
Mileage effects the service interval as grease deteriorates with the forces endured by the bearings. If you had a new bearing set that had an adeuate amount of grease and only rolled the axles a few feet every year, there would be no need to repack at yearly intervals. Storage doesn't effect bearing condition greatly, even if you park on the beach. A few years ago I dug a loaded boat trailer out of a swamp. The boat and trailer had sunk to the point that the wheels were mostly underground. I pulled the wheels and hubs, cleaned the bearings, repacked the bearings and went about hauling it home. I believe it sat submerged for over ten years.
I'm in agreement with some here that annual repacking of RV bearings may not be necessary. BUT, observation is the key to good servicing and you can't observe what you can't see. If nothing else, removing the hubs will give an owner a clue as to the condition of the brake parts and that isn't a bad thing. It's easier to replace a worn magnet or brake pad than buy a new drum or have an accident.
FWIW, I was servicing wheel bearings back in the days when all vehicles had serviceable bearings. That was before some were born :B.