MD requires a tax return if you have MD sourced income. See Nonresident Instructions.
You should pay MD and may want to have taxes withheld again for MD.
Each state has different laws and income requirements for filing. You can contact the Department of Revenue for each state. You probably won't need to file another state return since you are not setting up shop and creating a presence. A few states like to tax you for being physically present, but you did not earn your money from that state. Tax laws change each year, all you can do is keep a log and check the states you visit.
Each person in an RV has their own story and system. Have fun!
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