To be the contrarian - the boat guys also go over this issue. Between my boat and my RV, I would have 5 very heavy batteries to pull, store, and put on chargers. Over the years, I've found that as long as the battery is in good shape, putting it away with a full charge, and disconnected, does not cause any issue. Of course, in my climate, the storage temps can get to -30, so that really reduces chemical activity! Might be a different story if your "winter" means dropping to 40-50 degrees.
I store at my dealers lot, and they also advise the same for the hundreds of customer RV's they store and service each winter, and have for almost 40 years. Ditto for my marine dealer, who stores more than a thousand boats over the winter for customers. Can't argue with that kind of mass experience.
In the spring, a couple hours on the charger, and they are all at 100%.
2012 Ford F-150 Eco, SCrew, 4x4, MaxTow, HD Payload
SOB, used to be:Jayco 26.5 RLS