We bought one for our Vengeance back in March. I got the form here on this forum but I also called FR directly. They were very helpful and it was easy. I just mailed the form and a check and they returned my form signed and stamped "PAID" by Sheri Hill. That's it.
It was $250 though. Different campers, different prices.
2015 F350 6.7L Lariat CC LB
2016 Vengeance Touring Edition 40D12
Former Forest River Campers:
2004 Puma 30FQSS
2010 Sabre 31QBDS
2014 Work & Play 30WRS