I'm probably not going to say what you want to hear, but I'll at least tell you where you stand and then you decide what you're going to do. Your RV, when loaded the way you will eventually travel will weigh close to the 16K maximum. This will give you a pin weight approximately 3000 pounds. Your hitch will weigh approximately 200 pounds, 4 people in the cab 600 pounds, miscellaneous dogs, coolers, and BS in the cab and bed 200 pounds. Your actual cargo weight will be approximately 4000 pounds. This leaves you 600 pounds over maximum.
I'm not telling you to run this way or not to run this way. These are realistic figures, but only the CAT scale can tell you the truth.
And don't believe that old baloney story that the bikes in the garage will offset the pin weight. NOT true.
Jim and DW 48 years Brenda
2019 F450, ruby red
Harley Road King & sidecar