The string is actually quite long but it does depend on the alternator setup and type of
battery you have - and of course how big the
battery is and how flat it is.
AGM batteries have very high charge acceptance rates and can actually damage some alternators not rated for maximum continuous output, while GEL batteries need a very long topping up period to get them to 100%.
If you have the usual substandard wiring, you might be lucky to get a maximum of 20 amps tapering quickly to 10 amps after half an hour so if your 100Ah
battery is half charged, two hours of driving might just about put 35Ah back in - so that leaves you quite short of fully charged. Next day, your
battery will be down to 35% charged so the two hours driving will get it back to 70% charged. Next day etc etc etc.
If you were to get an expensive DC to DC charger or modified alternator and regulator that will put out a genuine 40 amps, then provided your alternator can handle it, an hour and a half driving will get it to as close to 100% as makes no difference.
Generally the advice will be that charging from a standard alternator will be lucky to get most batteries past 75% charged with any practical driving time and the end result of never using a quality mains charger is a dead flat
battery and a very short life.
It isn't all doom and gloom though because a quality 7 amp charger - proper three-stage operation - doesn't cost the earth and provided you hook up to mains every few days and charge it up overnight, you should be able to carry on indefinitely even if you don't drive every day. Depends on you daily usage though. Heavy users and short distance drivers will require hookup at least one night in three
BTW Doubling up on
battery capacity may get you a few nights longer on the first outing but once they get flat, you still have to have some way of recharging them and often the alternator just can't provide much more (safely) than a few miserable Amp-hours in a couple of hours.
One critical bit of information we need from you is just what sort of RVing lifestyle you are considering. Weekend warrior, 4-week vacation once a year or full timing.