If you want to spend a lot of time you may be able to get the DMV to reconsider your truck as an RV instead of commercial vehicle. It will take a lot of convincing and you must document the camper will always be on the truck while driven on city, county or state maintained roads.
In California I was able to have my 3500 registered at a non-commercial rate because I had a cap (campershell) bolted to the bed rails.
With my current C4500 Kodiak Monroe Pickup I do not have to stop at scales when towing my 5th wheel. The signs before the scales show No Pickups. My truck has a pickup bed so it looks like an oversized pickup...I haven't been stopped yet towing or empty in 10 years throughout the state.
