Steve,
My situation may have been somewhat unique. My secondary driveway (where I had to store the camper) sloped in 2 directions. Like you, I jacked it up as far as I felt it would safely go to drive my truck underneath. Because of the downward slope I could only get my truck about 2/3rd's of the way under the camper at it's full height.
After the truck was in position, I lowered the jacks (hydraulics by the way, I wish I'd had electric) to the point where the weight of the camper was resting on the truck. I would then get behind it and push it forward until it was resting against the front of the truck bed. Then I would attach the hardware to the frame jacks on the truck and I'd be ready to go.
The plastic bed liner allowed me to do this. I could also make adjustments, centering everything up by pushing the sides of the camper.
In 8 years, I never had any problems with the camper sliding around while moving down the road. It weighed 2500lbs. wet, and carried suprisingly well in my K2500.
Obviously spray in type bed liners are the way to go for everyday use, but in my situation I wouldn't have been able to as easily load and maneuver the camper if I was trying to slide it over the coarse, sandpaper-like surface of a spray in liner.
