bad news on that. Vinyl decals have a limited outdoor life expectancy, the lower end stuff is expected to last for less than 2 years, mid grade can be expected to last 3 years and premium for 7-10+. Dont know a whole lot about what they put on rV's, except our pace has 3m on it according to my wife (she has been in the sign industry for 8 years, owned her own shop for 2), it is an 89 that was store dindoors for quite a time and the decals look great. Honestly if you can find a small shop and just have a simple layout put together, that shouldnt cost you too much, probably less than 2K, closer to the 1K side. Make sure you see an image of what the vinyl will look like on your vehicle before you commit also make sure the shop understands that the quote will include stripping the old decals, not a big deal with the right tools, but an unprepared shop will lose their ass on labor right there. Heather also suggested to look around for a kit that you can buy and either install yourself or have it done.
That is all I got.