Since this is an alternator wire, I'm not sure that I would solder it as a permanent fix. Running a brand new wire is really what you want to do, go just a bit larger than what was there, and route it properly as mentioned above. That wire is what charges the battery and keeps all the electronics running while the vehicle is running, a poor connection there will add extra resistance, meaning more current/heat in the wire, and could lead to a bad situation later. It may also mean your vehicle isn't getting enough power, which could cause any number of problems. Depending on the RV, there could be a lot of juice being used, so it's best to make sure that this wire is in good shape when you're done.
I'm also against overly taping wires, it just makes it that much harder the next time you have to get in there and work on it, but I definitely understand the need for a quick fix at times, but these so often are 'good enough' and often you never get back to doing it right. You're dealing with that now from looking at those pics.