Whatever you use in your house, you can use in your camper. If you're camping at state, private, or federal parks, you'll be dumping into a state approved septic or sewage system. So, whatever works at home will work there also.
Because you are on a septic at home, just do what you do at home and enjoy life! No need to use anything different, or do anything different.
If you boon-dock in the desert, you might want to re-think what your dumping on the ground, but at a dump station or a campsite hook-up .... nah!
We use Dawn, Mr. Clean Magic Eraser, and Bleach. We carry a can of spray oven cleaner, use Swave Shampoo and Irish Spring soap. We brush our teeth with Colgate, use the same toilet paper we have in the house (whatever is on sale this week). All this goes down the drain and eventually in a campground dump station somewhere!
We are on a septic at also. We have the ability to dump in our septic tank (and we do), so we just use the same products in the camper that we use in the house. Never had a problem.