Almost always but with some questions on how you mean "change out"?
Electrically , the answer is almost always that it is a good move as the LED will use less power than incandescent. That means the fuse and wires are good to handle the load change. Less power used so big wires are good to go!
The question then becomes finding the correct LED base to fit the bulbholder in the current fixture and that is often not a problem as there are many styles of LED with different bases to fit the existing fixtures.
Basic bulb change after you find the correct base to match the existing. About the main problem I find on that is the LED will be polarity sensitive and has to be inserted the right way.
You would think the odds at about 50-50 but I run more like 60 -40 being wrong way!
I guess I need to face a different direction when doing it?
If changing and not sure of the base name, try finding a bulb number on what you have and the description on a new bulb may referr to it replacing that number?
Avoid mention of CANBUS as that is for new cars with too much electronics to tell us the light is out or "something" I never wanted to know!
Something like this is where I often go as an easy and cheaper than local stores.
https://www.ebay.com/itm/12468255475...Bk9SR5Ca8_7uYw
Got an 1157 bulb, replace it with same ID?
But if you want to change the fixture, then you get into shape and sizes that can make getting one to fit the RV much more difficult!
I'm sure covers are available but not done it lately.
Look in the cover for some brand and part number of what you have as it may have a stamped in ID for ease of ordering?