Well, to be honest, tow straps, come-along's, and winches are a good start. Or, begin with some lockers, a partner, and some prudence to avoid it. I don't see many folks really pushing the capabilities of their trucks (even stock rigs) with campers on them. Something about agitating the beer in the back keeps them away from it. My philosophy with my truck is a bit different though. I never even think of the camper on it.
Chains are really helpful too, depending on where you live. Get a mentor, do some tandem trail rides working up and you'll feel more confident.
The brain, and a lot of times, some well placed wheel location and throttle, will help a lot. Breakage it to be avoided, so know your rig's, and your location's limits.
Sorry not to be more helpful, but it's one of those things you just learn over time. Hard to just read about and apply. Experience, and the SNAFU's that you encounter, teach a lot, that the internet can't.