Just a thought but it is worth measuring the voltage at the camper batteries and the truck batteries to see just how much of a voltage drop there actually is between the two when they are connected together. Or to be more accurately (and if possible) measure the resistance of the charging wire that connects the two. Although there will be some drain, it may not necessarily be a significant amount for your given use situation. Voltage drop certainly does happen over long distance and small cable but 20ft or 30ft of run isn't that much in the grand scheme of things unless you are running some really small wire.
What you may find is that though you may have some drain between the two, the amount of drain in a two or three day period may be pretty insignificant in comparison to your other activities and the effort to reward ratio to try to fix the drain may not necessarily be worth it.
On the other hand, being able to isolate the truck batteries from the possibility of being drained might be a good idea if your boon-docking in a remote location.