Our toilet burps whenever the black tank gets 3/4s full and will not stop until the tank is emptied. At times the burp is strong enough to send water spraying out of the toilet bowel. The Boss really hates it when that happens. My theory is a little different than that of Ken in post #2.
It happens every time, no ifs ands or buts. When the tank reaches 3/4s it starts burping and I think it's because the vent tube is positioned to low into the black tank and as the waste rises it blocks off the vent tube allowing gasses to build up in the tank. When you then flush the gasses escape out the top spraying water as it vents out the toilet. I may be wrong on this but it sure makes sense to me anyway.
For the time, I just empty the tank at the first sign of a small burp, when we head up to Vegas next, the coach is going back to the dealership for some additional work, one of the items is the burping toilet
At least it's still under warranty, and this is after they replaced the cracked black tank last September.