There will be several parasitic 12vdc sources in the RV and all have the potential to kill a battery if not disconnected. Smoke and propane detectors MAY both draw power plus and as you found, some radios. So yes if you can't plug in or get a charging source for the batteries, then disconnecting the batteries or disabling the "offenders" is necessary. If you are talking a long time, months over winter for example, removing and taking inside a warmer area might be desirable.
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