Too many variables to give one answer for "how often is necessary". Road conditions, weather, mileage and even hub design vary too much. Once a year is a safe answer, but many people can and do go much longer than that. If you mostly travel on paved roads in dry weather and don't run a lot of miles (doesn't that sound like a lot of RVers?), every 2-3 years is probably ok. Emphasis on probably.
One advantage of regular bearing packing is that a worm bearing or hub will get found before something serious happens.