Those numbers are supposed to be the minimum you need to not start developing symptoms that show you have a lack of that nutrient while following the standard diet at the time those studies were made. I hear more people complaining that they're too low rather than too high. They don't take into account digestibility. You're not getting 100% of what's listed on food labels, especially if you're eating a lot of fiber or have stomach acid issues (do you burp a lot?).
The general advice is to eat a wide range of foods. That sort of works and is also half bullshit. You only need to eat a couple high-nutrient foods to get everything you need (like eggs or beef), but a wide range is more exciting (and more profitable). If you aren't paying attention to what your food has, then you should cast a wide net to lessen the risks of missing something. It's not required, it's just a risk reduction technique for people who care more about taste than nutrition.
What your body actually needs dynamically changes based on what you're eating. For example, the more sugar you eat the more Vitamin C you need to help process it. If you eat a lot of oxidizing foods then you also need a lot of anti-oxidants. If you don't eat oxidating foods then you don't need the anti-oxidants. Etc... The point being is even if you don't reach the RDA that doesn't mean you'll get sick. You can be perfectly healthy with low Vitamin C intake if your carb intake is also low. Still, not all nutrients are required immediately. Your body stores some of them so if you have an excess from earlier that will help makeup a current lack. It takes time to develop an overall lack of something so having a low intake for some days/weeks isn't going to suddenly kill you. Your body can also recycle parts of itself or change how it processes things to help adapt to somethings you're low in.
Still with all that said, look around you. People are getting sicker and sicker and a large part of that is poor nutrients. One reason you crave a food is because it tastes like something your body needs (added flavoring really screws you over here). If you do care about your health, do look at the nutrients you need and what your food is giving you and find the most nutrient foods that give you them, taking into account digestion losses. RDAs aren't changed regularly. Blood tests are updated. When you're within the normal range on the blood test, that means you match the average population. The average population is getting sicker and those ranges are being updated in step with that. When the normal is sick you want above normal scores, so just because your blood tests look good doesn't mean they are. It can take a long time for nutrient lack to become apparent. Your thyroid can use fluoride and bromide in place of iodine. It doesn't work as well and leads to long term issues, but in the short term your lack of iodine isn't noticeable. In the long term, you'll just call it's affects "aging" and ignore the symptoms instead of fixing your iodine deficiency. Joint pain is not a requirement of aging. Period pain is not a requirement of periods. Highly greasy skin is not a requirement of puberty. Regular UTIs is not normal (could be oxalates damaging your urethra/bladder). They're all just so extremely common because of poor diets that they've turned into expectations rather than something you can and should fix.
Some people can cure their depression by taking Vitamin D or Magnesium supplements. Does that mean their depression was cased by low nutrients? Maybe. The point is you can keep going with low nutrients even if you're miserable. You won't always realize you're low so yes you should at least try to hit those FDAs even if it requires you to eat a lot. If it requires you to eat too much, then you're picking nutrient poor foods. Eat something more nutrient dense. For reference, a 165lb person can live healthily only off of around 1lbs of fatty beef per day. If you're eating half a pound of food per day then you're massively under eating. If you're eating 7 pounds of food then that food is of extremely poor quality. Beef is very nutrient dense, so if you're eating a wide range of food then you should be eating perhaps 2.5 pounds per day. If that much food is making you fat, it's too calorically high and too nutrient poor. Pick a better "wide range" of food.