It depends a lot on the camper you choose. Mine accomodates a carrier very well, a lot of them don't. It would be pretty simple to have two hitch receivers welded to the frame rails and a strong fairly light rack made to put the ATV on. You don't need a lift as the ATV can climb up like a billy goat, a short ramp would do. I wouldn't use the center hitch receiver just the 2 side receivers. Most lifts weigh around 300#, I would think a simple rack could be half that. I was going to build one but didn't want to give up carrying my motorcycle so I stick the ATV in the pickup I tow.
Calculating the weight has been mentioned and is very important. I don't think it matters much if you exceed the rear axle rating a little but whatever you do don't exceed the tire ratings.