Nothing wrong with half tons. However when it comes to RVing, the manufacturer tow ratings have gone from 8000-ish pounds 10 years ago to 12000 pounds while the typical RV limit (payload) has stayed the same or even gone down.
All vehicle manufacturers provide tow ratings and also state not to exceed any other rating such as GVWR, rear axle, and receiver. RVs are the toughest type of trailers to tow, so towing a 9500-ish pound RV would mean 1200-ish pounds of TW which few half tons can handle, especially when there is a family of 4+ in the cab and a bed full of camping gear.
My experience says you are probably just fine. The 2014+ half ton GM twins have higher than average payloads.