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If you are worried about a conflict between the bikes and the front cap of the RV in normal driving, that's very unlikely. With a 5' bed on your truck, the "sideways" front wheels of the bikes are very unlikely to extend beyond the truck's rear bumper. Handle-bars might, but if you have, for example, a pair of e-bikes and center them in the bed, hitting the handlebars would be very unlikely to happen before your trailer's A-frame or front cap made contact with the rear of the truck...when fully jacknifed.
Of course, you can test this using a conventional blanket or sleeping bag for tailgate protection. Mount your bikes in the bed and see how well they can be centered...and tied down in the center...and how far they project out the rear of the truck. Then hitch up, use a spotter, and attempt to jacknife the trailer as much as you dare and monitor clearance.
Personally, I'm very fond of carrying bikes in the truck bed. It is, by far, the best ride for the bikes. A Class-II hitch mounted to the frame of the trailer can certainly hold a bike rack, but the ride back there is horrible by comparison to the truck bed. Without shock absorbers the typical camper's rear bumper rides like a pogo stick. The ride for the hitch ball is smoothed out by the sophisticated suspension on the tow vehicle, but the ox-cart-like suspension on most towables amplifies the bumps, and without shocks, every bump sets off a series of undamped oscillations that pound bikes to death. That might be OK for a simple 10-speed Walmart mountain bike, but for e-bikes that typically cost in the kilobuck range each, that's no way to treat your e-bike.
The exception would be the hitch-mounted bike rack on a toad...because you have returned to a vehicle that has decent suspension softening the ride for the bikes.
That's my 2 cents. I've seen lots of bicycles being pounded to death hanging off the rear bumpers of towables, and I'd never subject my bicycles to that punishment.
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Jim Moore
SW Colorado - 4-Corners Area
2020 Jayco X213 Rear Slide
2006 RAM 1500 with Firestone Airbags No WDH
400 watts of solar on the roof & 200 watt of suitcase 2 x GC2 batteries
Starlink Gen-3 running from a 500 watt pure sinewave inverter
Boondock almost exclusively on the shores of Lake Vallecito
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