You don't need either RCS or solar panels for going to the mun or minmus. Solar panels are only needed for unmanned flights and I usually don't use RCS unless I need to dock with something. So I suggest to invest in fuel and engine related things (if available) instead of solar panels and rcs so that you will be able to fly longer and such, making it easier to get to and back from the mun. And yes, your craft needs to be back on kerban soil (or water) to be able to recover it.