Read the owner's manual for your hitch - you can find it online if the dealer did not give you one.
You may very well be able to adjust your hitch yourself just fine. Read the manual, ask questions on these forums. Do you have a friend or two who has worked with hitches before?
At my local garage, a couple of the mechanics own campers, and will do a certain amount of work on them including adjusting hitches. Their biggest problem is they don't have the big garage to be able to put a camper into.
When and if you do bring your camper back to the dealer to adjust the hitch, still read the hitches owner's manual first so you will have some idea what they are talking about and what they will do.
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2021 F150 2.7
2004 21' Forest River Surveyor