It is really a risky business to disagree with Gerald. I should know better! But....
We've recently been enjoying a PleasureWay Pursuit with a traditional propane tank water heater. The pressure valve leaked and I replaced it with a new one. It still leaked.
Why? It took some reading. The design is meant to leave an air pocket in the top of the tank. When you first fill it, it can't fill all the way with water because of where the hot outlet is. After a week or so, the air in that pocket is absorbed into the tanks water. The air bubble gradually disappears. Without the air bubble, the water can't expand when it is heated so the pressure valve has to open a crack and dribble out some water.
The "fix" is to drain some water out through the (awkward) drain plug to recreate the air bubble. If that doesn't work, you may then consider you have a defective relief valve.
(I will never, ever even dream of disagreeing with Gerald if it is about engines, transmissions, wheels, brakes, etc., etc.!)