As
jelag mentioned, if not in this thread, in the dozens and dozens of threads relating to tires on this and other RV forums, you will get feedback ranging from those who religiously change tires at 5 years no matter what condition or mileage and those who will and/or can run their tires 10 years (and sometimes even longer) if they get them inspected each year after the tires are 6 or 7 years old. I'm one who will run tires longer than most. You'll have to make up your own mind as to when you want to change them out.
It sounds as if your tires are in excellent shape being stored indoors and only having 4,000 miles so I might be tempted to run them a little longer. However, let's say that you only plan on keeping the coach another five years or so, then it may make sense to change them out now.
As for Kumho, my opinion is that they're excellent tires. I'm a fan of both those tires made by Japanese manufacturers (Toyo, Yokohama, Sumitomo, etc.) and the South Korean manufacturers (Hankook, Kumho, etc.). They all represent excellent value and quality in my opinion, and will cost less than comparable products from the first-tier manufacturers (Michelin, Goodyear, etc.).
Even though Kumho is based in South Korea, they have manufacturing plants all over the world, including China, as do most big tire manufacturers ...yes, even Michelin and Goodyear have plants in China. I do not know for sure if Kumho commercial truck tires are made in South Korea or not but no matter where they are made, the plants will be managed and overseen by the corporate headquarters.
Is it the KRS03 you're looking at getting? If so, it's a great tire. If you can get them for a good price, I personally wouldn't hesitate in buying Kuhmo tires.
Kumho KRS03