I just leave my batteries in the RV and keep a trickle charge on them. I do check water levels monthly.
I do disagree with the referenced article in that it says batteries do not discharge when disconnected. In fact, lead-acid batteries do self-discharge over time. If you google the topic, you will see plenty of reference to this characteristic.
So it is important to at least periodically trickle charge your batteries, especially if the RV is in storage for several months.
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