Call me contrarywise but if you like truck camping then get another truck. Not all are in the shop all the time. My Ram has 130,000 miles on it and has visited the shop for one (relatively minor) item in all those miles. If you are looking for an excuse (not a reason) to get out of truck camping then the truck is as good as any excuse to quit. We only live once and your assessment of the costs of a truck are slightly flawed in that you will get some of the new cost back when you sell it if you look at it as life cycle costing. You will get some trade-in value against the new truck as well from your existing truck. And if you look at life cycle costing of the price of the new truck equated against the enjoyment you will receive the numbers might not be that bad. Or stay out of TCing for a year and see how much you and your better half miss it. Then decide.
Generally speaking when people start looking at the costs of anything including RVing then they are usually ready to vacate it. Rving doesn't pencil out favorably and it didn't when you first got into it as well back then. But, back then you wanted the TC and those experiences that go with it so the costs were doable. But, today those same costs are becomming the hindrance to continuation and for you to mention insurance and storage costs tends to make me think that you are finding the costs to exceed the enjoyment and value of having the TC.