Can't speak for the RV, but we really like an electric mattress pad at home. It's great to heat up the bed 30 minutes before getting in.
When tent camping, we found it helpful to put a blanket under us and then a sheet over that for sleeping. This kept the cool air away from the under side.
History: '08 View, '05 Chinook, '01 Jamboree 24D, '78 Apache Popup, 81 Komfort Tlr,
84 Mazda B2000 'w canopy,
Tent from wedding shower in '96