Depending how your Sprinter based MH electric system is set up, low voltage (dead battery) can trigger the windshield wipers and other things that will make your vehicle look possessed
... ( I have an old BMW, that is how I know...
).
Best thing is to get your CHASSYS battery (the one that feeds the engine starter) and take it to an Autozone or any other parts store for a test for chances are good that this battery is toasted.
If it is, buy a new one and install it, if it is not, charge it while out of the vehicle and then install it and turn on the engine.
You then need to address the HOUSE batteries.
If you have a generator, turn it on, if not, check the house batteries voltage if it is charging with the engine on.
Every time you leave your MH for more than a couple of days you should turn the battery disconnect to the off position.