I know Northstar includes a 2" x 2" perimeter frame spacer with a couple more 2" x 2" crossbraces on their popup campers for both the '03+ Rams like mine and the Superduty's.
This yields adequate clearance and is lightweight.
I reckon that would be enough for you.
My new to me 1994 Northstar 800 was just barely, barely clearing the cab, and we fixed it temporarily with some 2x. I plan on making a frame of 2x6 and 2x4 to screw to the already existing perimeter frame, and may get a sheet of the ridged foam insulation just to provide a little more clearance. I am just around an inch and a half now, which makes sense as we used 2x. My truck is a 2010 Ram 2500 similar in appearance to yours. I just got the camper up on the truck yesterday, discovered the issue, and my buddy (former owner and I) figured out the temporary fix. I have a shakedown cruise on easy highway from Hailey, ID down to the KOA in Twin Falls, for my daughter's soccer tournament this weekend, so will get some supplies at Lowes or Home Depot when I am down there. Obviously, Texson/RC Willet designed these a little differently in the mid-90's. But no big deal to fix.
I will be making a little door for the Propane compartment out of plywood or something temporary too, until I locate a door, and hope to replace tha tripod style passenger side camper jack with two on that side as well. Hoping to find a good source for re-built camperjacks as I don't want to spend $1,700 bucks or so, and would like to add computerized power jacks. But that is a different thread.