Also, batteries do not sweat like humans to keep cool. Insulation will not make a battery get hot in the summer in itself. If it is ventilated then that is enough.
I have never done anything in the winter except keep the batts properly charged. They always last as long or longer than they are rated for.
If your batts are under the RV then insulation will not help. They are not being heated and are not warm to begin with so there is no heat to preserve at all so insulation would not do anything. The insulation would be as cold as the battery and as cold as the outside world, at best it would delay the time it takes for the battery to get cold when the temp drops fast, but will also delay the time it takes for battery to warm up when the temps warm up also. Net zero.
Are you able to check the water level regularly? At least 2-3 times per year? Add distilled water only, and don't let the water level drop below the plates - this will be more beneficial than worrying about temps.