Having fear and conquering fear are both good things. Having confidence in your ability to deal with situations is also a good thing. Being in a better position to avoid those situations is even better.
The video posted above is good for people trying to be stealthy with their camera setup. I think that having smaller cameras makes sense, but not at the expense a of quality picture from a decent range.
I would consider something like these for your cameras. They are small, but have larger infrared lights per camera, which let's you see clearer and farther at night. And reviews say they have some of the best pictures out of any number of cameras in this class.
Interwebz (TVI CVI AHD Analog) Mini Dome Camera 1080p Security Camera Weatherproof MicroDome 2MP 4 in 1 Hybrid 3.6mm Infrared Night Vision CCTV Video Surveillance HD Over Coax
https://a.co/d/isfIwxI
Combine those with a DVR that can record, and a monitor, and you're set. I have a 4 camera kit that would be perfect for your application, but the cameras are too bulky. Something like this would work well, as it incorporates the ability to use the smaller cameras, record, and has a built in monitor. It can do motion sensing as well. I have a WiFi camera version of this and they work well. But for your RV I think having the wired cameras would be best.
True All-in-One Home Security Camera System with Built-in 10.1" LCD Monitor,SANNCE 4CH 1080P Surveillance DVR Recorder with 4Pcs 100ft Night Vision Cameras, Easy Remote Access,1TB HDD Included
https://a.co/d/dAXysph
You can play back video from previous days, and both the cameras and main unit can run off of 12v. Simple to set up and relatively cheap pace of mind on the camera front.
Get some cool side lights for the RV that are individually switched. There are tons of led flood lights made just for lighting up a side of an RV at night.
If you feel it's worth the bother, get a horn type speaker that can do alarm noises or other things you might want to play loudly to startle someone out drive them away. I would have a few noises for various animals they you might be worried about. If it's coyotes then maybe a roadrunner beep beep, and so on. Also maybe a mic option so you can talk to people if you have unwanted visitors and talk from inside.
All of this combined would probably cost under $500. More if you have a stereo shop install it. Just remember to seal up any holes you might make properly.
Now if your install all of this and all you do is stare at the monitor or check the tape, you might want to read that book mentioned above. But if this helps give you peace of mind knowing you've covered the bases you can, go for it.
Good luck, and have fun. That's the point.