First off do a four corner weighing of your rig. You can find scales ($5-$10) at truck stops. Or, many states allow you to use the truck scales when they are closed or not too busy.
Many commercial scales only weigh the axle, so it's tricky to get 4 corner weights.
But, it's important you have those figures before tackling your issue.
I had the same issue years ago, and it turned out to be nothing more than my front tires being worn and in poor condition. Mine aren't very wide (8R19.5), and they tend to track the channels in the road worn there by thousands of trucks. I'd inadvertently get in that groove and the front of the RV would wander back and forth in the channel. New tires fixed the problem.
After getting new fronts, I did get a 4 corner weighting and shifted some of my stuff around to balance it out a bit better.