I think this is common to the truck cause mine does the same thing. I came across a cement bridge on I-95 somewhere in Virginia and we did lots of chucking, to the point that I put the brakes on to stop it, I think its because of the wheel base is so long.
Also my brakes on the camper seem to take a second or 2 to release after I start to accelerate too, and I have had the cap replaced already and have my brake controller set at 5.
Oh, did you get your CDL?
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