I was in search for a robust bike rack a few years ago and ended up with the one from 1upusa. I was tired of my bikes getting hammered against each other with my Yakima rack. It may fit your needs, you may need an extension to clear the camper.
Hi, its a yakima hitch mount rack, probably 6 years old, i just bought a hitch extension maybe 6 inches and it works great and gives just enough clearance and stability. 13000 miles and no issues yet, and lots of dirt roads, bumpy gravel roads.