Are we to understand that if you fix the wiper arm only that it would solve your problem?
If so, I'd suggest to replace the entire arm. You can try to replace parts but it's a hit and miss exercise unless you know exactly what part is worn.
If replacing the entire pantographic arm, as you can imagine, it will be a bit more expensive to do than to just replace a few parts but if I were in your shoes, I'd want to replace the arms.
A pantographic arm will also tend to be more expensive than a non-pantograph.
The Autotex line of arms and blades was use for OEM by some manufacturers back in those days but I can't be certain if that's the brand you have on it now. Autotex is a more heavy duty arm and will last many years so I'd consider using an Autotex arm although you don't have to as you do have other brands that you could use that should fit your splines.
Here is the exact arm for your application from "Wiperparts" linked in the post above:
FOUR WINDS Hurricane 2000 Class A RV Wiper Arm # 200487N
Or you can purchase directly from Autotex
HERE
If you don't think it's the arm itself and the linkage needs adjustment or replacement, then we'll have to re-address doing something else.