Yes, 12.2 really is kind of low.
It might mean that your batteries are nearing the end of their life
OR there is a loose connection
OR your alternator isn't keeping them charged up.
And yes a battery can be almost fully charged as gauged by the specific gravity and not be able to give back the energy when it should (low voltge).
Next you need to take some voltage measurements when they are SUPPOSED to be charging......like when the truck is running and when shore power is connected without the truck running.
'07 Damon Outlaw 3611
CanAm Spyder in the "trunk"