The limit on the rear axle is the amount of tire capacity at the rear. Stock tires provide 2 x 3195 or roughly 6400 lbs. minus the weight of the truck on the rear tires (as measured at a CAT scale). That usually leaves a 2800-3200 payload capacity.
Several ways to get around that limitation. One is to replace the stock 3195 tires with 3750 (Nitto or Toyo) rated tires to gain 1100 lbs. more load capacity at the rear axle. I did this and it cost me $500 out of pocket as I sold the factory tires on Craiglist. Second option is to replace the factory rims and tires with 19.5 rims and 19.5 tires rated at 4400 lbs. per tire which will cost you about $3500. This will increase the payload up to over 5,000 lbs. but is expensive.
Last option is to do what the manufacturers like to do which is to add two more 3195 tires (actually the tires are not going to be at maximum inflation with DRW so you gain about 80% more payload capacity). This is the easiest but the most restrictive.
With DRW the truck is 2 feet wider and no fun to drive when the camper is off the truck for personal use. There are fewer places where DRW trucks are allowed to go. Mud is more of a problem as is dealing with snow chains. You have to replace 6 tires instead of 4.
The axle and wheel bearing load ratings for heavy duty Ford trucks has been 8900 lbs. but may be greater with current trucks. For RAM and GM trucks it is 10,900 lbs.
Regardless of whether the truck is DRW or SRW there will likely be mods needed in terms of upgraded shocks and anti-sway bar (not needed with 2011 and later GM or 2014 RAM trucks.