Towing SUV
The first thing is to find out how much you can tow. Take your truck, with camper, loaded as you would for most trips, and get it weighed, both rear axel only and total weight.
Compare these weights to the GVWR and GRAR (listed on the drivers door of the truck) and make sure you are under both of these limits by at least a few hundred pounds. Find the GCVW rating for your truck, perhaps in the manual or from the dealer. Subtract your total truck weight from the GCVW to find out how much weight you can tow.
Once you find a vehicle which is below your maximum towing weight, find out if it has problems being towed. Most common is transmission damage due to movement without fluid being pumped. If you find the 'perfect' vehicle which does NOT tow cleanly, you can go with some sort of trailer or dolly; just remember that trailers/dollys count against your towing weight too.
Generally, you will want to consider an auxillary brake system for your towed vehicle, so the vehicle brakes assist your tow vehicle in stopping. Unless you are going with a full trailer, of course, and then hopefully the trailer has brakes.