If you have the torklifts, and they can be swapped over, then that would be the best piece of mind for you. Personally, I have installed the happijac system on two of my trucks and I don't see a problem with their system. My whole family has used their passed versions that didn't have the frame tie in bar and never had a problem. Your mileage and opinion may vary. If installed correctly, it seems to do just what it's supposed to do...hold the camper in the truck.
If your camper is on the bigger side, then maybe you want to get the torklift system to swap over. Do what you feel is safe. You know how you drive. If one system makes you nervous for some reason, then use your best judgement.