Would it really be freezing cold water if it were inside a heated space as the OP stated?
I was pretty much answering the first question, the post title "How necessary are water heaters?"
If your water tank is inside, under the bed - ambient room temp - water heater already installed inside the bus somewhere, you should be fine.
Water tank under the bus, no insulation, water heater might not be enough for a hot shower.
the second part of his question...
Say you're in a skoolie that has water heater under the bed or somewhere else inside the bus.
ambient temperature being room temperature, do you really need a water heater?
So to find an answer that fits to the question -
If you had
NO water heater, depending on where your tanks located and or insulated, what would indoor ambient temp be when it's 30 degrees outside?
WINTER TIME- Let's say it's a warm/heated 70 degrees in the bus...water freezes at 30-32 degrees....
again depending on where your tank and water lines are, the water will warm enough to not freeze but too cold for me to take a warm shower.
It gonna boil down to, do you like cold showers or not, even if the water in the tank got to 60 degrees, to cold for me!