Class C RV is an odd sort. It's a local delivery chassis carrying a heavy load. So, for things like oil changes, it's "severe duty."
But in my opinion, they aren't that hard on brakes. Oh, then can be, downhill stops in the mountains and stuff like that, but how many of us are doing that? We drive a few miles on local streets and secondary highways. Then a couple hundred on limited access interstates, turnpikes, freeways, before a few street level miles to the campground.
So I'm with the group that says "Probably NOT Worn Out." Our pads weren't bad, 35000 on the coach, when a caliper stuck and overheated a front brake. This is a big plus for Class C: Local chain store auto supply had Pads, Calipers, Hoses, all on hand. I changed the offending corner at the campground and the other when we got home.
But... Several trips later, I noticed the rust pattern that forms on rotors overnight, was NOT being uniformly burnished off by the new Pads. I also hadn't taken the rotors off (caliper mounting bracket bolts called for a breaker bar I didn't have along) and had them re-surfaced.
Most of the time, I don't replace or re-surface rotors that "look good." A previous Class C on E350 didn't stop well at all and I decided on new rotors hoping they'd help and did not.
If a Class C on a Ford E-Series chassis 1992-2007, late model 2008+ brakes are THE WAY to brakes worthy of that 14050 pounds. We just drove I-4 from Daytona to Disney. With lane shifts, traffic, inattentive tourists and aggressive locals, we used all the brakes we had. The new brakes are not only bigger diameter. The pad material is thicker, tougher, rotors thicker with bigger vents, and calipers of course have bigger pistons.
Those "new" Ford brakes work better than upgraded Pads. Better than Frozen, Drilled, Slotted, whatever, Rotors.