Did you get a manual from the axle manufacture describing the axles and the brake system on your camper? Here is a link to the Dexter Axle site, if you have Dexter Axles?
http://dexteraxle.com/resource_library
I received a manual with my camper on the Dexter axles but I can not remember if they are self adjusting or not. The manual is in the camper and the camper is in storage.
I would still adjust the brakes myself every 6,000 miles. Because I feel that the camper is not backed up enough to keep the brakes in adjustment if equipped with the self adjusters on the brakes.
Jim W