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I was having the exact same issue. Dealer first replaced the camera with no results. Next the dealer replaced the APIM module still intermittent issues with the screen. Lastly, dealership replaced the IPMB module and that seems to have corrected the issue. My truck is a 2016 as well, hope this helps.
First thing to check is the harness between the tailgate and the bed. Unplug it, check the pins for corrosion, and clean it up if there is any. This usually is the thing to cause intermittent camera issues, if that doesn't resolve it, then the dealer will have to diagnose it.