Doesn't look like they are worn. That smaller gear is part of the clutch assembly. It's the part that turns when you turn the crank. When I was working on mine, I noticed that if I cranked it too far "down" (continued turning the crank counter clockwise past when I should have) the clutch assembly unscrewed and moved out of alignment with that larger sprocket. That might be what's happening here, the teeth might be close to touching but when any force is applied, they slip off to the side.
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See if anything there is useful.
Do you have someone who can crank it while you watch that assembly to see what's happening? The little sprocket should turn the larger one, which then turns the front chain assembly and the metal drive shaft that goes to the rear of the camper.
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