FLSTFI,we had the same experience. Our RT 210P has the twins like yours and after six years, we redid the tv and added the foam.
Foam: I found a 5 pound 4 inch thick queen sized pad at Sam's Club and bought one for our queen size bed at home and got instant relief to a little hip discomfort. So, bought another one (about $85) and cut it to fit the RT. Here is what I did. I laid out the foam on top of a sheet on the garage floor and laid both existing RT twin pads side by side on the foam. Then, I carefully outlined the pads on the foam using a laundry pen with a fine point. That gave me the layout. As you know, the RT mattress pads are odd shaped at the top to fit the rear door design. Then, I rough cut the foam in half seperating the two pads for finish cutting. You will find that a queen will perfectly make both RT pads with a few inches in all dimensions for trimming.
Then, I took each half and set it on a couple of saw horses with a sheet of plywood on top of the horses, thus making a cutting table. NOW, here is the fun part: I cut the foam with an electric kitchen knife! I researched the net for how to cut the stuff and came up with that answer and watched a couple of youtube.com clips of people cutting the stuff with a kitchen knife. I couldn't believe how smoothly it cut the foam. Put "cutting foam with an electric kitchen knife" on the youtube search engine and you will see for yourself.
The results were perfect. You can then make a slip cover for the pad or make one by simply wrapping it with a sheet and wash the sheet after a trip or two if necessary. You end up with the RT dual density foam and a four inch pad of quality memory foam on top of it and IMO it just sleeps great.
As to the tv: carefully measure the size available for you to work with. Measure from the top of the existing tv over to the side wall and then to the edge of the cabinet on which it is mounted. Also, be mindful of the height you can get by with for the mechanism to work. I found an Hitachi tv (again, at Sam's) that was advertised as ultrathin (also an important consideration)that worked perfectly, although I had no idea Hitachi made tvs. The dimensions available to you in terms of space in the RT dictate your tv purchase and limit it. I did not install the base that came with the tv, but rather just mounted it to the existing RT mount by drilling a few new holes ( in the mount, not the tv!) and rigged up that way. Our RT has the pantry option and that is what the tv is mounted on in our unit. I then bought a small, ultra thin Sony dvd player and put it on the bottom shelf of the little "pantry" which is really just a small cabinet.
Please excuse all the detail, but I did specifically what you want to do and wanted to share with you all my research and results. In summary, the Hitachi turned out to be perfect and a great little tv and the bed pads are super.
PSW
2013 Phoenix Cruiser 2350
2014 Jeep Cherokee behind it
and a 2007 Roadtrek 210P for touring