Strangely enough, when you are on the road, 99% of the truck campers you see are not on DRW trucks, do not have 19.5" tires and are not stopping at every weigh station to freak out if they are 12,000 lbs. They all manage to get to and from their camp sites and all around the country.
So listen to all the good advice you get here from various keyboard commandos and then use your best judgement before buying a new $80,000 truck and doing $15,000 worth of modifications to haul the smallest truck camper on the lot so you will be as far under GVWR as possible.
Once I swapped shocks, added airbags and TorkLift Stableloads to my F-250 I went camping, drove 6,500 miles on a cross country trip, spent a couple of weeks boon docking for hunting season and made dozens of holiday trips. Never had an issue,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,EVER. I'm loading it up on Monday for a shakedown trip and then three weeks of adventuring in July. All without a hint of panic or a second set of rear tires.
I haul an Arctic Fox 865, is was heavier than expected and their factory weight sticker is not even right. I looked at an Adventurer 86FB and a Lance 865 too. Adventurer models have actual weight of the camper you buy and actual CG of the camper marked on their units, AF seems to do the minimum, estimate everything by weight of parts.