Good that you are OK.
You all should check the lug nut tension with a proper torque wrench prior to moving your unit, and on long trips an intermediate check is appropriate too. There isn't anything like having your tire pass you, besides ending up in the ditch.
And, while you are at it, check the RV and tow rig tires for the proper pressure at the same time.
FYI: I carry a laser temp gauge and check my tires each time we stop!!! Side A, which is in the sun, will be hotter than B, in the shade. But, over the course of time you'll be able to dicern whether one or more tires are hot, which means improper inflation and/or problems. You will be able to address these issues if you know about them. You can buy one of these at most hardware stores at an inexpensive price.