Contact the dealer ASAP and get them to sort this out IMO. At a minimum you need to be plugged into shore power to get your batteries fully charged.
Plugging into the truck for a couple of hours is woefully inadequate.
After a couple of days on shore power, unplug, wait an hour and report your battery voltage. If you have let the batteries get below 12.2 volts you may have damaged them. Flooded cell batteries or AGM? Water levels OK? Lots of variables!
Good luck,
Peter
PS — Good general primer for RV battery use:
http://www.batteriesnorthwest.com/batteryschool.cfm