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It may depend on what year truck. I haven't kept up on all the details but I've heard that adding it later requires that the truck have the 360° camera system from the factor.
You need to have the Ultimate Trailer tow package in order to use it. Without it the harnesses wont be in the truck, nor the modules. The TPMS and camera kit is the harness for the trailer with the camera and TPMS sensors for the trailer and the outlets for the truck.Details:
To add the Customer Placed Trailer Camera or TPMS kit to a vehicle as an accessory (post-delivery), the vehicle must be equipped with the Ultimate Trailer Tow Camera System (874) and Sync 3.