My new to me crewcab drw is huge compared to my previous supercab srw, and there are challenges parking it because of the extra length and width compared to my previous truck. However, it sounds like you are where I am. I don't plan to daily drive the crewcab drw, so I can get by with it. I know I can't go through the drive throughs that I used to, so I don't try!
I do recommend that you take a look at F450s, F350s with Towboss package, or the newer RAMs with better turning radiuses. It makes the crewcab drw more manueverable.
No doubt that it is helpful to have a GVWR of 3100 more than the SRW. That's a very big difference. Keep in mind though that not all DRWs are created equal. Mine also has 19.5 tougher tires.
In case you are wondering, I drove my previous SRW almost 8 years with the same camper, so that is definitely possible but has limitations. The DRW has different limitations, but those were a good tradeoff for where I am now.