I would not hesitate to use the brophy mounts for a lightweight camper. I wonder how many people that recommend against them have actually used them. Check with brophy for the right product for your truck. They make both stake mount and clamp on brackets. I had the stake mounds on a 11 foot hard side camper and did fine on our 94 Ram 2500.
Frame mounts work great and arguably needed for large campers but they are expensive, add weight and reduce ground clearance in certain circumstances. Go to etrailer and read the reviews from people who have actually used the product and decide for yourself.