When you put a load on batteries you get voltage sag. I'd plug in the umbilical cord for the camper into the truck and have the truck running so your alternator is giving the jacks full power.
The alternative to that is be sure the camper batteries are fully charged up. If it's cold out; the batteries will not output as much as they would when warmer. Ever start a car in really cold weather and it barely turns over the starter?
Also if you're running all 4 jacks at the same time; you could run the fronts for a couple inches; then the backs; and alternate to raise the camper. See if the jacks have more speed when only running 2 instead of all 4.
Do you have 1 battery or 2?