Welcome to iRV2.
Workhorse chassis with a diesel ? I may be wrong but I thought they were all gassers.
The rad fan controller; or it's sensors; may be your issue, as Mr_D says , with the A/C on the rad fan might run on high and with your temp under control, it probably is ; and yes that robs power and mileage.
Because the A/C condenser is in the rad fans air flow , along with the CAC, the fan speed is stepped up to high for proper A/C operation. Some coaches the fan runs high all the time with the A/C on , others will cycle the fan only when the A/C compressor is actually working , which is about 1/2 the time the A/C is on.
When you have been running with the A/C off , there will he hot coolant circulating through the heater core, when you switch the A/C on , a control in the heater hoses "should" shut off the water flow and then the A/C evaporator begins cooling the air box in the dash and then starts to cool the interior. This takes time ; but 5 mins sounds excessive.
Your coach may, or may not be equipped with the auto shut off of coolant flow to the heater core, many owners have installed a manual water valve to aid A/C operation.