Typically the cars I have owned with TPMS has a set button. Given that you do not see the TPMS alert light in the lamp check (all warning lights on at the first click of startup) I would say it is not optioned on your truck.
With respect to tire pressure. I would go with the factory recommendations until you can get your rig weighed. My Lazy Daze manual has a page for tire pressures based on axel weight. Michelin Tire has an excellent chart. Even if you do not run Michelins, the load per tire should be near the same for the same class of tire.
Where I live (in northern VA near Washington DC) one can get weighed at the county dump. Other options are visiting a vendor at an RV show (you can get corner weights) or go to a set of truck scales. I routinely stop at a state weigh station along the interstate when they are not busy just to update my numbers. I always go up to the block house and explain what I want to make sure they can help me. There are likely better ways to do this but I have found that if you just drive through they will not stop you or give you anything other than a green light.
If your going to just get weighed (not going on a trip) pack the RV as through your going on a trip or you will be light.