Not in my 2004. The charger had no AGM charging profile, even though the coach was factory-equipped with AGMs.
I'll not claim they batteries may not have lasted longer with an AGM-specific charger, but the Xantrex 3-stage (RV 2500) did fine and they lasted about years.
As John notes, if you have an older single stage charger, I would upgrade the charger first. Actually, I would do that no matter what type of battery I installed.