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This issue comes up often and even if you have an earlier model, the charge lead amperage output is pretty limited ( put an amp meter in line to check it with the camper tethered) so lots of folks resort to running the 4 ga from the battery, if charging the camper battery is really essential. A good solar system makes running the truck to charge the battery less urgent. Overall there is no ideal charging off the truck as at best you are stuck with charging dissimilar battery types and sizes.
Steve and Andra
2012 F350 6.2 gasser SRW LB
Fab Fours front and rear in case we run into a rhino
2019 Northstar Laredo SC