In Connecticut, physical paper titles are not required for much of anything. Everything is tracked on computer. When you go in to register a vehicle / trailer / boat, as long as the VIN comes up as clean you get a "new" "title" every time you visit the DMV.
I registered a small boat with the DMV that I got very used from a friend - it literally was sitting in the woods for years and no one knew who owned it. DMV didn't even flinch, they ran what VIN numbers we could find for it and it came up clean, so they gave me a new "title" for it.
As some others have mentioned, car dealers can give you a new title and registration for new or used vehicles - I assume the same for campers.
It is all about the VIN these days, as long as there are no "flags" on it on someone's computer, you are fine.