Assuming you're connecting the panels in parallel, the distance is 35' one way and PWM controller then 10ga would give you a 1.5V drop plus the additional drop to the battery.
You might want to consider a combiner box and then 8 ga to the controller. You should get more information if you post all of the details - controller type, panel specs and all involved wiring lengths and existing wire size.
2009 Holiday Rambler 42' Scepter with ISL 400 Cummins
750 Watts Solar Morningstar MPPT 60 Controller
2014 Grand Cherokee Overland
Bob