If you have lead-acid batteries in the camper, you can go old-school and connect to the truck via a battery isolator, which should already be in the camper. A DC to DC charger, while not required, will provide better control of charging and potentially allow you to use a somewhat smaller wire gage to the truck.
If you have lithium (LiFePO4) batteries, you will want to install a DC to DC charger or you won’t be able to easily use the full battery capacity. If your camper already has lithium batteries it probably already has a DC to DC charger.