Personally I think anything below freezing and you're just taking a calculated risk. I can tell you what I've risked, but it doesn't mean your experience would be the same.
Water takes time to freeze, and campers take time to cool. If you have a modern unit with an insulated basement and PEX piping (sounds like you do) you have more safety margin than some.
Will the daytime temp and sunshine factor be enough to give you some heat? If so, a single overnight getting down to "just below freezing" isn't enough to cool the inside of the camper to freezing as well, AND get the water down to that point too. But if the daytime high is also below freezing that's a different story.
When I expect just one or two nights to be cold, but daytime highs to be at least 45F+ and some sun, I'll pour about a quarter bottle of RV antifreeze into the black and grey tanks to protect their valves (this is most effective if they're empty, or nearly so). I'll then let the pressure out of the water lines by opening every faucet (if there is any freeze expansion this also gives it some relief). If it's a VERY cold set of nights I may turn the furnace on and just set the thermostat to its lowest setting (45 for me). I've done this repeatedly over the years with no trouble, but YMMV and I definitely am not recommending it!
One thing I've found VERY helpful in my kit is a blow-out plug and air compressor. They're both cheap tools to keep in your camper at all times. If you're ever worried about a freeze period, it really only takes 5 minutes to blow the lines out, especially if you haven't fully de-winterized (including filling the hot water tank).