Done it with a few of my previous setups...
12' Ocean Kayak.
Same truck, but 16' canoe.
16' Ocean Kayak.
Same kayak, different RV.
Whatever configuration you go with, just remember that where you setup the camper may not be anywhere near where you need to put the boat in the water. Also, keep in mind how much the boat weighs that you need to lift onto a roof rack. Not only can it be physically demanding, roof racks have a weight limit rating. For my Nissans, I believe the magic number was 125 lbs. The 16' kayak was about 70 lbs. I'd lift one end up, rest it on the roof rack, grab the other end, and slide it into place. The canoe wouldn't rest on the one end of the roof rack in the same manner, and had to be muscled into place. Not sure I could do that 21 years later...
Have fun!
