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I have heard that you need to put 2 x 6 in the floor of the bed so the camper will fit over the cab area.
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You are somewhat correct.
What needs to be done is you need to make a framework that will fit between the wheel wells out of 4x4's. Frame it front to back and side to side. I would also be wise to fortify the outer framework with a couple of cut pieces from side to side on the inside. Screw down a piece of 3/4" plywood to finish the topside that would be against the camper floor. The get a HD rubber bedmat from a parts store and place it on top of your frame work to be between the framework you built and the camper. Hold the camper into the bed with a good set of Happy Jacks or Tork Lift made for your truck application.