For simple answer, the frame and most metal parts of the RV are all good ground points!
Many RV do have a specific ground bus bar of copper which is then bolted to the frame, but for practical use, just drilling and bolting the ground to the frame at some point which you have cleaned the paint off is reasonable.
Attachingthe cable to the metal is something to do well with locknuts, washers, etc. to avoid it bouncing around to come loose. RV are harder to keep bolted together than the normal house?
But then I might ask how far you have gone in the study? Are you proposing to add lithium to the existing coach lead acid battery string?
I'm not heavy into that part but was thinking there was a bit of mismatch when using both types together.
Meanwhile, are you aware of the interactive parts catalog online that lets you look at things like the electrical and all the parts including the battery cables?
Takes a bit of learning curve to get good at playing it but great stuff here:
https://catalog3d.winnebagoind.com/menu/Parts.htm