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To be clear, the truck actually has to be in motion for this noise to occur?
Does it happen at any particular speed?
From here all I can really suggest is some common things that cause this type of sound.
First, since the truck has to be in motion, I really think you are looking at a wheel bearing issue. Generally they are fairly consistent though and don't usually come and go, but they can. What I would do or have you do is drive the truck, if you hear the sound, weave back and forth in the lane. If it's one of the front wheel bearings, then it will get louder and quieter as you load and unload the bearings. That's what the weaving does. Since the noise seems to be coming and going, and if it is the bearing, then it's likely it's not bad enough to hinder your trip this weekend.
Another thought would be something like a transmission mount, if the trans can move a little and hit the frame it might make this noise as well.
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Honestly I do not. You may be able to downshift when you hear the sound and see if it changes, but it's been my experience noise isn't common before they go. Usually it's either poof! and it suddenly doesn't work, or it gives you some sign, like slipping and an O/D light flashing before hand.
If it's the transmission mount, it will be fine to drive. Even towing the camper.