Hi george637,
The short answer is YES. TPMS systems protect you from certain types of problems, alerting you before you have a total failure. For example, if your tire picks up a sharp object resulting in a gradual loss of air. You'll be alerted before the tire is irreparably damaged.
Without the TPMS, that type of air loss will usually end up with the tire getting shredded, causing damage to the RV.
The TPMS will alert you if you have a blowout (sudden air loss). That's important because when one tire fails, the entire load is on the remaining tire, significantly overloading it. If you don't pull over pretty quickly, you could end up with the other tire on that side failing a short time later.
Unfortunately, the TPMS cannot predict a blowout, and can't alert you before it happens, except where it's caused by gradually decreasing air pressure.
Certain types of brake failures can generate excess heat. The TPMS will also alert you to this. In my experience, if you have a temperature alarm, you'll need to investigate fully to find out to what extent the excess heat may have damaged other parts, including bearings.