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First, your signature line does not give us a clue as to how old or what make and/or model your RV might be other than you said it is a 5th wheel, so that limits our ability to help. But not knowing anything else, my first answer would be yes, you could just put one new battery in place of the two, and I would opt for replacing what you have over going with no battery. My reason for saying that is that the device in your RV that converts the 120 VAC (Volts AC) to 12 VDC (Volts DC) for charging your battery may want to have that battery for filtering or regulation or possibly even for assisting with any large loads.
There is one additional benefit, assuming you have an inverter, it would give you some carryover in the event of short outages on the utility's 120 VAC supply, which can be really nice. It is, in effect, a very good UPS (Uninterruptible power supply) within the limits of the battery's ability to deliver.
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Jim & Angie, Boise, ID
2021 Entegra Esteem 27U
2017 GMC Acadia Denali
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