Start with the 80 front and 110 rear with the camper and yes the PSI should be taken after the truck has sat for 3 hours or longer. This gives the air inside the tire time to equalize with the air temp outside the tire.
Forget the tire charts which are rubbish. Monitor the tread wear pattern on the tire and use it as a guide as to whether the tires need more or less air than you have been running. And forget about the chalk test that is worthless and an automotive version of a snipe hunt.
An underinflated tire will run hotter and the added sidewall flex will result in poorer road handling with a load in the bed of the truck. Neither are good.
If the tire is over inflated at 110 PSI, which is doubtful, the worst case is that the center of the tire will wear faster than the sides and this is easy to spot and then make a small adjustment.