The 2900lb figure on the glove box door is if the camper's COG is within the allowable range.
If you look at the actual COG range for campers in the truck, the range is from the front edge of the bed to the rear edge of the bed. It's a very wide range.
Think about it and it makes sense. You really wouldn't want to put a whole lot more than ~2900lbs at the very rear of the bed, or you'd be doing wheelies. Put it in the front of the bed and you'll be squashing the front axle down pretty hard.
HOWEVER, most campers have a COG that's within a few inches of the rear axle, so the camper is more like a load of lumber centered over the axle, than a stack of concrete bags piled up at the tailgate.
If you can haul the truck's entire payload capacity with the load centered over the rear axle, you can haul a camper up to the truck's entire payload capacity if the COG is somewhat located over the rear axle.