Hi ,Are you sure this is AC voltage? I Know you say when you plug mains in, but this powers up the charger for battery unless mcb/fuses are pulled.
Knock of the mcb/ fuses and remove your dc fuses see if voltage is still there .
If it is then you know it is on the supply side
If it is not then start with the dc then ac and put fuses/mcb in 1 at a time until voltage returns this will identify which circuit it is on
An RCD works on a neutral earth fault/ diff and may not pick up on a small live earth fault,this would normally be picked up by mcb( have you an older van with fuses only ask as these are not as sensitive as mcb) as you are only getting a very small voltage on the frame, sounds like a bad earth connection or live in contact with damp/frame
Start with the very basics look at the connections in the supply lead these can get rought handling and connections come loose, then in connection socket and then main earthing point on van, awning light could also cause issues.
If you are not overly confident i would consault an electrician.Be Safe and good luck
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