You'll find a lot of opinions here, not sure how much scientific fact.
With that said, I'll throw out my opinions. I agree with the statements above that no engine and drive train should sit idle for more than a month, especially if no long term storage preparations and return to service procedures are followed. Can you "get away" with changing the oil ever 3-4 years? Probably. I've known people who never changed their oil, but I wouldn't recommend it.
Personally, I always changed the oil at least once per year when we had the motor home. More often when we put lots of miles on it. With synthetic oil on my daily driver, I go pretty much by mileage and expect to get 7-10K miles out of it but I would still change it at least once per year if I was driving less. I've seen other sites that indicate you can go 2 or more years between changes on low mileage vehicles, but for me once a year seems like a reasonable balance.
The only way to really know when the oil truly needs to be changed is to have a sample tested. Not really worth the effort and expense to me. It would cost more than changing the oil myself and be more hassle. I'm not sure how much condensation plays into modern engines, but there are many factors like acid content and additives breaking down. Maybe condensation, maybe combustion by products, maybe other factors, but oil sitting in your engine especially after being run even a few miles is not the same as oil sealed in a factory container.
These links have some information about what happens as oil gets older and why you might want to consider interval based changes instead of just mileage:
https://www.waynesgarage.com/tips/more-tip/much-about-oilhttps://www.waynesgarage.com/tips/more-tip/oil-change-intervals
2018 Forrest River Salem Hemisphere 282RK - 2017 RAM 1500 TV
Previous RVs and TOADS
2004 Fleetwood Bounder 32W on WH W20
2000 Four Winds 5000 21RB
1986 27' Allegro
TOADS
2005 Ford Ranger XLT 2WD
2004 Suzuki Aerio
1988 Chevrolet Sprint