That's a common complaint by some owners about their RV refrigerators. The RV units use a different technology than residential refrigerators (RR). In fact, a number of RV manufacturers are now putting residential refrigerators in new RVs. The advantage of the RV refrigerator is that it can operate on either shore power or propane. The disadvantages are that it uses more electricity than a similar RR, is less efficient, costs much more, and the unit has to be level to operate at it's best.
I'm a bit hesitant to add that the chemicals used in an RV unit are extremely volatile. In rare instances, a leaking of those chemical can result in an intense catastrophic fire. But, given how many RV refrigerators are in service in the U.S. the danger of a fire is relatively low. I have an RV refrigerator in my TT and don't have any serious fear about using it. However, for efficiency reasons, I plan to replace mine with an RR this spring and modify my TT with an inverter so I can power it with either shore power or the house batteries.
I'm not suggesting you go with an RR. I'm sure some owners have found some tricks to address your soft ice cream problem.