We have been camping since 2000 had 3 campers and live in the North/East and we never had a problem with condensate freezing in the camper.
In the winter the lower the temp gets the lower the humidity.
As long as the temps are the same in side of the camper as it is on the out side there should not be any problems.
If you place a heater in the camper and raise the temp you will start building humidity, then if you loose power or the heater stops working then the condensate could freeze.
If it rains or snows the humidity will go up out side but the effects are minimal in side of the camper.....if you feel better adding something for this issue then that is ok too.