We have a cap on the (short) bed of our Titan. I had Yakima rack installed and carry 2 kayaks (longest is 12.5'). No problem whatsoever. The yaks hang over the end of the cap by a couple of feet or so, and I bet there is about 6' of clearance to the camper. As long as your rack is tall enough to clear the propane tanks, I think you would be fine.
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Old- 2002 21 Roo
New- 2015 Shamrock 23 IKSS
TV- 2010 Nissan Titan CC
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