I have both a 5thW and a truck camper. My 5thW pin weight was about 2200 lb. so had no issues with it. My first TC was about 3300 lb loaded and I had no issues with it. My current TC falls in there at about 4500 lbs loaded.
With no additions other than tires,the truck handles the camper well but the rear is down about 4 in. on the left and by 5.5 in. on the right. Fresh water, fridg, furnace, and generator are on the right. And the headlights are a bit too high.
I installed the 5K air bag and they do a great job in leveling the truck. In addition, I installed a sway bar on the rear which made a big difference in carrying that load. Since you have DRWs and less in bed weight, I don't know if the sway bar would do anything for your RV towing.
I air the bags until the overload spring are not touching and then let air out until they barely touch. That levels the it side to side and puts the headlight back on the road for our truck camper combination.
That truck is the wife's daily driver and she likes it with the air bags even when unloaded. I think the air bags are well worth their cost.