Hello Jadie
Warm air can carry more moisture than cool air, so warm air that has been saturated with moisture can only carry that much moisture as long as it stays that warm.
Condensation occurs when warm moist air comes into contact with a cooler surface. The air is cooled and has to release some of its moisture as condensation.
It is a fact that when we humans and other living animals breath, we exhale moisture laden air, and it is this which is the usual culprit for condensation in caravans.
Even though the walls of caravans are insulated, they still loose heat, so walls covered by a pillow or the edge of a mattress are likely to be cooler than the air inside the caravan, and thus will be more prone to condensation. It is even more pronounced on metal fittings.
Keeping bedding away from walls usually helps, and many caravans these days have a false wall around the seating area that allows warm air from the heating ducts to rise up through the cavity and keep things a little fresher.
During storage, ventilation is the best answer.
Prolonged dampness may cause musty smells and some mould may grow, but unless the dampness is caused by a leak, it is not likely to cause a long term problem.