I'll restart/restate; you have problems with the Chassis Battery (the one under the hood) - correct?
Also, you say it is
800aH lead acid battery- but I suspect that might be 800CCA (Cold Cranking Amps). An 800aH Lead Acid would be quite large. I believe this is what you are referring to:
DieHard Gold Battery: 78 Group Size, 800 CCA.
Were it my RT, I'd charge the battery, disconnect it, the measure the voltage after disconnecting, then after a few days of being disconnected. That could tell you something about;
the state of the battery,
the charging system (alternator), and
any leaks.
[My preference would be take it out of the van and charge and test on the bench, determine its health. Then re-install and repeat the tests.]
I like the suggestion
tarp made about how the bolts are seating on the battery. Side posts can be a problem, especially if someone has over tightened a long bolt and broken the internal connection - so I understand. A bad internal connection would lead to a number of problems. As can Bad Grounds. But I wouldn't go to that just yet.
You have suggested the "...charging system is stock Roadtrek system from 2008." Any extra leads coming off the battery? Radio, Underhood light, GPS, etc? Charging is one half of battery use, and discharging (the other) seems to be your problem right now.
Good luck!
Cheers - Jim