When you have your RV in for new tires, or in for service, discuss your needs with the shop and explain what you want. There is no need to have to struggle with the inside dual when there are so many different valve stems available. Using the right valve stem will allow you to install a TPMS sensor or just inflate your inside dual. DO NOT just accept it when a "mechanic" installs inaccessible valve stems on your wheels.
Here is a picture of just SOME of the different shapes that are available. There are many many more that will give you access WITHOUT valve stem extensions.