Typically a furnace with ducted outlets in an RV has a metal louvered plate mounted on the cabinet facing somewhere near the furnace. This allows the free flow of air back to the furnace intake. There is no direct air duct back to the furnace like in a house. There is no filter to change either. Being under the couch like yours there is probably enough air flow getting back to the furnace inlet. If you box it in you will need to leave an opening in the box and add a grill to the opening. The grill and opening will need to be sized to ensure enough air is getting to the furnace intake.