Elaborate on "heated pipe"?
Best bet is to use your on board tank, refill as needed, and disconnect the city water when not filling the tank. If your fresh water tank is outside the RV, it will need heat, from the furnace, or a heating pad, and some insulation.
2013 KZ Sportsmen Classic 200, 20 ft TT
2020 RAM 1500, 5.7 4x4, 8 speed