::Hey Ben! Yes, a home sewer hookup for your camper is definitely possible.
If your house uses a septic system, one common way is to tap into an existing cleanout pipe or install a new one that connects to your septic tank. If you’re on city sewer, it works similarly; you just tie into the main sewer line.
Cost really depends on how far the hookup is from your existing system and whether you’re hiring someone. We wont be able to give you an accurate cost, so I’d suggest just getting a few estimates done.
If you’re not familiar with plumbing or local codes, it’s a good idea to call a licensed plumber anyways and see what they recommend based on your setup. They’ll be able to tell you exactly what’s needed and give you a ballpark estimate.
You may not even need to install a sewer hookup. Check out this article I wrote for a few ideas on dumping your tanks at home: https://camperfaqs.com/how-to-dump-rv-tanks-at-home