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Hi Michelle!
Short answer: yes, it can happen, but it’s still something to take seriously.
Propane is naturally odorless, but an odorant is added so leaks are easy to notice. When a tank gets very low, that odor can sometimes become more noticeable, which is why people often smell it right as propane is about to run out. A quick smell at that moment is fairly common.
That said, propane should never linger inside an RV. If the smell sticks around, keeps coming back, or happens while appliances are running, shut the propane off at the tank, air the RV out, and have the system checked. Always treat any propane smell as a possible leak until you know otherwise.