Given the varied use of your truck ( high speed empty running, and some towing at reasonable speeds ) it's sounds to me like you have near optimal gearing. I'd run it as is, tow in third, and let it rev. You won't hurt the engine at all. That truck is easily capable of pulling that size trailer all over this country.
I tow a similar size trailer with a Frontier with a V6, and have towed it close to 50K miles now, from sea level to the high passes of Colorado. The truck now has 135K miles, ans still looks and runs like new.
I applaud you for understanding the economics of keeping your truck on the road. New vehicles are indeed very expensive. Now get out and enjoy that camper !