The stake pocket ones will be fine for a fold-down light camper on roads. If off-roading over rough trail then at least one (front) frame tie down would be wise.
Full size campers will have more sway and more leverage because they are taller, so when they sway would pull more on the stake pocket tie down. With a folding TC you should be fine. Be sure to pad between the top rail and the tie down just in case to keep it from scratching.
There is possibility of a small dent on rail.
Not related to post, but I remember growing up the neighbor had an old 60's something truck set up for TC. It had the tie down mount bolted to the side of the fender sheet metal. The bodies were more robust back then.