Well... if the inspection diagnosed no brake problems, check the condition of the radius arm bushing.
Video on repair:
https://www.youtube.com/watch?v=svlEDE6WfcwIf the bushing is worn/weak it can be pushed back from braking forces, and cause 'pull'. Usually will cause erratic steering, and a 'hammer like' sound under your feet when hitting bumps.
Were you there for the inspection of the brake lines, brake pads and rotors? The flexible brake lines can swell and clog internally, and cause the caliper on the clogged side not to operate, making the vehicle 'pull' to the working side. It can also hinder the return of the fluid to the master cylinder reservoir, and this can cause the caliper to drag and cause a pull to that side.
Internal degrading of the flex lines cannot be found from a visual inspection, generally some fluid is bled from the caliper while pressing the pedal to ensure there is flow going to the caliper. If the side opposite of the pull has no/little fluid coming out- clogged flex line.
A sticking caliper can be found by lifting both front wheels off the ground, applying the brakes, and seeing if either wheel sticks after pedal release. If letting a bit of fluid out of the bleeder stops the caliper from sticking- clogged flex line.
A flex line can be clogged and still apply brakes, because the master cylinder applies hundreds of PSI to the caliper and forces it through. The return force from the caliper is not enough to overcome the clogged line, and causes the caliper to drag until the fluid slowly gets back to the reservoir. (or you release the pressure using the bleeder valve)
Hope that helps! Good Luck!
If you are 'on the road' and need to diagnose, heat can tell you a little. Drive the camper for ~20 miles or so, then (in a safe place!!) get out and feel the lug nut area of the front wheels. Be careful at first, it MIGHT be HOT. You are looking to see if one side is hotter than the other, indicating a caliper is not releasing.
I see you have a 2012, when I got my 2006 the brakes were fine. I was driving the camper to work for a few days to 'get to know her' , 60 mile round trip. On my way home on day, I noticed the acceleration was a little slower than usual. Then it was pulling right slightly, but straightening out when the brakes were applied. I hopped out at the exit ramp stoplight to check the front temps, and right front was HOT. I pulled over at a gas station, and opened up the bleeder on that caliper. (If the flex line was not allowing the fluid to return, the fluid would spurt out of the bleeder and release the caliper) No go. :( I let it cool for ~15 min, and drove the last 10 miles home. It got hot again... caliper was seized. Was working fine that morning...

But the brake fluid was BLACK when I bled it out...so lack of maintenance was the cause.
New calipers, pads, flex lines and rotors has it braking like new ever since!