I think Ken is likely correct in identifying a hardening issue, but I maintain that lubrication plays a significant role. If this were a widespread problem, the trucking industry would certainly be addressing it, as their trucks operate for long periods, keeping a consistent film of lubrication between the rollers and the lobes.
In contrast, motorhome owners often let their vehicles sit for extended periods. When starting up after such inactivity, any protective lubrication has likely drained away. Once metal begins to gall, there’s no remedy—no amount of lubrication can reverse the damage, and the deterioration can actually accelerate.
If the components are properly hardened, their resistance to this kind of damage may help mitigate issues from dry startups. Kudos to Ken for highlighting that point.