In the US at least the rationale behind each RDA are kind of all over the place so I wouldn't lean on them. Broadly speaking a rotating variety of whole flora and fauna will contain excellent nutrition.
VitA = eggs, organs
VitB = meat
VitC = fruits (savory or sweet)
VitD = daylight
VitE = can be low on paleo due to low PUFA link but may not be needed
VitK = fermented vegetables, cheese
magnesium = can be low for all modern folk, consider epsom bath or supplement
iodine = seaweed, mollusks
Calcium, iron, zinc, and others all tend to be sufficient assuming your menu is not monotonous.
Lots of: urban hiking, cycling, sprinting
Lots of: fresh meat, seafood, eggs, organs, tubers, starch fruits, vegetables, meat fat, dairy fat, oil fruits
Some: cured meat, dairy protein, sweet fruits, rice, pulses, tree nuts, oil seeds
Minimal: soy, refined proteins, sugar, liquid carbohydrate, grains, refined oils, peanuts