Loaded with just the camper my axle weights are similar to yours.
My "good" wheel/tires are 245/70R19.5 XDS2 on Ricksons and I usually run them when I'm towing with the camper or too lazy to swap them out(they are very heavy). Loaded with the camper (towing or not) the 19.5 setup handles everything but loose/sandy trails better(other set of wheel/tires are Dura Grappler LT285/75R17...which arn't all that great offroad either but offer some float).
The negatives for the 245/70R19.5 XDS2 are the lack of footprint offroad(can't air down), they are loud (have a good roar to them), and the unloaded ride isn't all that great. Also, if you go the route of the XDS2, be aware they wander a bit until the mold release wears away.
Overall I'm happy with them and when my Dura Grapplers wear out I'll likely just run the XDS2 full time.