Yes, your rear axle is a little overloaded. That usually can be remedied by adjusting the weight distribution hitch to transfer weight from the drive axle to the steer axle and the trailer axles.
After adjusting it to the next increment of tension, usually by adjusting the tilt of the hitch head, take it back to the scales.
It takes three passes across the scales to get the whole story.
Once with with everything hooked up.
Once with the weight distribution bars removed and placed in the rear of the tow vehicle.
Once with the truck only with the weight distribution hitch removed.
Around here the first weigh is $11 and each reweigh is only $2. So it'll cost about $15.
Of course this should be done with all the normal passengers and cargo loaded in the tow vehicle and the camper.
Put the data from the weight tickets and the weight stickers on the truck, the truck hitch receiver and the trailer into this handy little spreadsheet. The GCWR rating for the tow vehicle will be in the owners manual or on the manufacturer's web site.
https://tinyurl.com/y7vfjlekIt will tell you:
the tongue weight, which will include the weight of the hitch,
the weight of the trailer,
the weight on each axle of the truck,
the weight of the cargo in the truck and the cargo in the trailer,
how much weight was lifted from the steer axle by the tongue weight and hitch and how much was restored by the weight distribution hitch.
Then you can determine if the WDH is properly adjusted and whether the axles are loaded within load recommendations.
Moderator edit to re-size pictures to forum limit of 640px maximum width.
2013 F150 XLT SCrew 5.5' 3.5 EB, 3.55, 2WD, 1607# Payload, EAZ Lift WDH
Toy Hauler: 2010 Fun Finder XT-245, 5025# new, 6640-7180# loaded, 900# TW, Voyager wireless rear view camera
Toys: '66 Super Hawk, XR400R, SV650, XR650R, DL650 V-Strom, 525EXC, 500EXC