Hello Michael and Sandy, greetings from central Kentucky and welcome to the forum. Congratulations on your new AS, may it bring you miles and miles of fun and adventure.
There are lots and lots of threads here on winterizing, just use the search tool near the top. As to whether or not you SHOULD do it, just consider the cost of frozen pipes or tanks. In technical terms, A LOT.
We have traveled into and out of cold temperatures in our AS. It's not a difficult thing to do, just check your owners manual. For the rest, use the search tool and join one of the many, many threads.