The engine battery and the leisure batteries on the Cali are all lead acid type and the characteristic of these is that they must be kept fully charged all of the time if the life of them is to be a long as possible.
Due to internal resistance, all batteries will discharge over time. New batteries have the least internal resistance and so will discharge the least when left. Internal resistance increases with age due to the deterioration and crystallisation of the chemicals used and so older batteries are less able to retain a charge and therefore need to be topped up much more often.
The heater does cause a drain on the relevant leisure battery, as does staring the engine on the engine battery. In normal circumstances these batteries will cope with this provided they gets a charge soon after this discharge. Leaving a lead acid battery in a discharge condition will damage it.
If you don't drive your Cali regularly I would suggest hooking it up often to keep all of the batteries topped up and thereby retaining their life. This is not necessary if you use your Cali everyday. The alternator will keep all of the batteries fully charged.
I am not convinced that the control panel is a reliable measurement device. I would consider it just an indicator that shows if there is or is not a charge available. If worried, seek advise from a reputable auto electrician, which you have done. They will have accurate measurement facilities and hopefully lots of practical experience to guide you.
If you are not able to plug in your Cali, or use it regularly, then an isolating switch for each of the leisure batteries, as you have been advised, is a good idea.
Alan