Yes but not directly. You need a MPPT charge controller that will put out the right voltage. (ex: 12v, 24v or 48v). For RV probably 12v. The charge controller in simple terms is what will take the very variable voltage that comes from the solar panels and convert it to a more stable/set voltage for battery charging. It also does so in a way to run the panels at their best efficiency based on conditions.
Of course you need to be aware of how much power is going in vs how much you can realistically use. For example if you're getting 500w from the solar panel and try to use a 1kw load, it will run, but not for long, you then need to let the solar top up the batteries after. This is where a microwave oven is actually pretty good to use as it's using lot of power but for short bursts so as long as your inverter can handle it, even if your solar panel is not rated for it, it will just take longer to top the battery back up.