By far the best way to find to find out is to weigh it. That’s because there are so many variables, like accessories, tires, etc.
But Dad’s truck weighed about 4250 lbs when it was stock, and it should have been comparable to yours. That was with minimal fuel in it and nothing in the bed. So, if we add the camper we get about 5000 lbs. Then add two adults of 175 and 125 lbs and we are at 5300, and that leaves you 700 lbs for fuel, gear, etc. Should be adequate.
Gary, AKA "Gary fellow":
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Dad's: '81 F150 Ranger XLT 4x4: Down for restomod: Full-roller "stroked 351M" w/Trick Flow heads & intake, EEC-V SEFI/E4OD/3.50 gears w/Kevlar clutches
Blue: 2015 F150 Platinum 4x4 SuperCrew wearing Blue Jeans & sporting a 3.5L EB & Max Tow
Big Blue: 1985 F250HD 4x4: 460/ZF5/3.55's, D60 w/Ox locker & 10.25 Sterling/Trutrac, Blue Top & Borgeson, & EEC-V MAF/SEFI