Advise: skip the F250 which only has a few hundred more pounds of payload than your 1/2 ton and buy an F350 or bigger.
Your semi-floating rear axle is not meant to support a camper and nothing you can do to the suspension will change the fact that the axle shafts in your rear axle are supporting the weight rather than the housings like those of us with heavy duty rear axles.
Most of the modifications you mention will be virtually unnoticable. If you want to do anything, you need to install much stiffer rear springs before you waste your time and money doing anything else.