RV solar is not inherently complex, nor necessarily expensive - depending on what it is you're trying to accomplish. From what I can tell in your first post, all you want to do is keep two six volt batteries topped off. The question I have is, topped off in storage, or topped off daily while camping?
If all you want to do is keep your batteries topped off while your RV is in storage, a single 100 watt solar panel routed through an inexpensive PWM controller and connected to the battery bank through a fuse should be adequate, as long as the solar panel is exposed to the sun.
If your goal is to keep your batteries topped off while camping, you'll first need to know how much power you typically consume, in a 24 hour period. There are a few ways to do that, but measuring your actual consumption with a battery moniter is the most accurate method.
When you know your average consumption and your battery bank's AH capacity, you'll know how many amps your solar panels will have to generate to fully recharge your batteries. Keep in mind that solar panels will generate significantly less power in Wisconsin than, say, in Arizona - especially in the winter months, so to fully recharge your batteries in Wisconsin you'll need a bigger array than someone in Arizona with the identical consumption.
Regarding components... Mono and Poly panels are very similar in output, but mono panels are physically a bit smaller. Mono panels also perform a little better in shaded/cloudy conditions, but not a lot better, and they're a little more expensive. Stick with any name-brand (Zamp, Renogy, Grape etc.) and you'll get a descent product. Their performance and warranties are similar.
An inexpensive PWM controller is all you'd really need for a 100-200 watt array, but if you're considering a larger array (300 watts or more) I'd recommend buying an MPPT controller that can convert excess voltage to amps. PWM controllers can't do that.
"Suitcase" systems are popular, and you can easily keep them pointed toward the sun (If you're there to do it.) Solar panels generate a lot more power when they're pointed toward the sun. Of course, you also have to have a place to store suitcase systems, and you have to watch them so they don't grow legs and walk away.
Kev