The only deal breaker is the camper , otherwise the G2 Raptor is better in every way than a 15/16 Superduty, or 17 Superduty.
Having owned multiple Superduty's and Rams , I love them for their purposes as a work truck but there is a huge difference if your are daily driving.
If you can settle on not getting a camper, hands down the G2 Raptor is the best bet as you said daily driver. Comfort is like a Range Rover on the highway, fantastic mileage (about 17 mpg) and power, luxury amenities. Up to about 500 lbs in the bed it does fine.
Next the 16 Superduty , it'll ride much rougher in comparison even with aftermarket suspension, interior is no where near the 17 Superduty and Raptor, and then you also have a diesel. Mileage is worse than the G2 stock to stock, average about 15 mpg. With a tune/delete it'd be close, but throw a lift and wheels and tires on and it drops back to where you were. I'm a big diesel guy but you have to know what you're getting into as far as emmision complexity and maintenance.
G1, well it'd do fine if you can live with much older interior and luxury items, much less power, terrible mileage. But it does have a V8, much better ride and handling than a Superduty, and more aftermarket available.