First consideration - "if it ain't broke, don't fix it".
BUT....a sudden rupture would leave you disabled - and if you're half way between San Antonio and El Paso, it could be a LOOOOOng wait for the part and someone to install it.
(You will need a big, strong jack to lift the coach to install the new airbag.)
SO, second consideration - give the airbags a close look - minor cracks are not too bad, but if they are frequent and deep, then I would replace them before a trip.
Plan on about $300+ each plus installation.