You didn't say how you measured the voltage.
It is my understanding that voltage measurements only work as a test if you have no load on the batteries. In other words, you can take the batteries out of the motorhome, charge them on a bench, let the battery rest for several hours and then take a reading.
Therefore, voltage tests in a motorhome are almost meaningless because we can't conveniently take them out of the system.
If you have maintained your batteries properly, never run them down to dead, have 12 volts after a couple hours of TV and your hydrometer tests are good, I would suggest your batteries are in good shape.
If you still have a running furnace in the morning, you are getting what you need from your batteries.
You didn't ask, but I suggest you be careful of how you charge your batteries after each night of dry camping on a road trip like that. If you let the relatively small engine alternator do all the work each morning it will get too hot and die. Use the much larger genset until you think the batteries are well charged. Then let the engine alternator keep them that way until you get to your next stop.