In my own experience I have never been able to rely 100% on the tire manufacturers' load and tire pressure charts. They are designed to insure the tire stays on the rim and not to insure maximum tread life. The tread contact area with the road does not change in a linear manner with tire pressure as a lot of the change is in the action of the sidewall and not the tread section of the tire. When I have used the charts to determine the air pressure the end result has been underinflatted tires and tread wear on the edges.
With 4 x 2850 at 80 PSI the tires are set to carry 11,400 or nearly doubly the actual load at the rear with the camper in the bed. I would forget about a linear adjustment and go down to 70 PSI at the rear after rotating the tires and then go another 5k miles to see what the tread wear looks like. You may get enough wear to see what is happening after only 3K miles or you may not. Most likely the rear tire pressure should be in the 65-70 PSI range but only time will tell.
Some people suggest using chalk on the tread or some other trick but I have never seen this work with a truck tire. Monitoring the tread wear as you are doing is the best way even if it takes more time and you lose some tread life in the process.