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Here an informative video on where RH puts the foam in their boats and some issues with water drainage. Not the same model but I'd bet they use the same techniques in all their models.
I'm sure your plywood floor weighs twice as much as it's supposed to..That foam to aluminum contact creates hidden corrosion so look for pitting. I wouldn't put similar foam back in..some sort of closed cell product works best..even the pink foundation insulation works better.