The truck in stock configuration will charge the batteries. The question is how much and how fast. Installing larger wire from you're truck's batteries back to the 7 pin plug will help greatly. #8 is about the largest that will fit in the connection on the 7 pin plug. However, you can run larger wire and splice it to a short piece of #8 right at the plug.
Some people have installed a separate cord, just for the + and - wires, to run really heavy wire. I think one made for lift gates on big rigs takes up to a #2 wire for 100 amps. Of course, the wiring on the RV side of the connection would also need to be upgraded.
I would install at least a #8 (properly fused at 50 amps) from your truck battery back to the 7 pin plug and hook it to the +12v terminal in place of the factory wire. If you would like to have this wire unhooked when the truck engine is off a voltage sensing relay (Blue Sea makes a good one) will be needed.