FWIW, I had a Ranger some years back and my FIL still has one. Solid truck that I know I asked a lot of. Certainly overloaded it a few times (rear suspension nearly on stops). It always handled the loads and never had a problem. Pulled a Trailmanor 3023 plus a LOADED bed with a heavy fiberglass cap 7000 miles across the US w/o complaint and then on to other long trips. I never weighed it for that 7k trip, but strongly suspect I was over the GVWR.
Now that all said, it wasn't a truck camper with the higher COG. Personally I would be aware of it and enjoy life. 200# isn't much really. Heck the fresh water on my 5ver adds nearly 500# when filled.
If you Ranger doesn't have it, you could add a good rear sway bar and better shocks. How does the rig drive?
Happy Trails!