IMHO, breakers can age and relax over time and number of trips and become unstable. If it were me, I would replace the breakers with Square D and then see if you have any other issues.

I also had an issue with one of those dual/shared breakers in my RV. They put the A/C and something else on the same breaker pair. It would always trip when only the A/C was running on a really hot day (100* +) when we were out on the lake. Nothing like coming back to the RV to find it at 130* internal. Replaced the dual breaker with two singles and haven't had an issue since.