You need to confirm your end-to-end topology to help us answer better (as asked earlier above)
This is required to find out if there are multiple device/subnet hopping is invloved for your end devices to reach the DHCP server.
Anyway,
Based on your running-config attached:
I see that, there is no mention of any native VLAN (against your original description at top)
Plus, On almost all ports, you are attaching the same switching profile:
interface-profile switching-profile "WirelessAP"
switchport-mode trunk
!
As a result all those ports will be trunk members of ALL the VLANs.
==> Are the end devices which are plugged to the switch ports are intellegent enough to send explict tagged packets with specific VLAN ? or they sending packets un-tagged ?
If un-tagged, by default the native VLAN is 1.
So, the request would be hitting for VLAN-1
interface vlan "1"
ip address 10.1.10.41 255.0.0.0
!
And your DHCP server (10.1.10.20) is also in same subnet
Plus VLAN 1 is your default gateway
ip-profile
default-gateway 10.1.10.160
controller-ip vlan 1
!
As a result you will end up getting DHCP IP always for VLAN-1 subnet (10.1.10.X)
If you want IP address for your end devices (cameras) on VLAN 500 subnet, then create s switching profile such that, the target/connected switch port is in vlan 500 (access/native).
Then, your DHCP relay applied under that RVI (Routed Vlan Interface) would kick in (interface vlan 500)
interface-profile dhcp-relay-profile "DHCPRelay1"
helper-address 10.1.10.20
!
interface vlan "500"
dhcp-relay-profile "DHCPRelay1"
ip address 192.168.50.1 255.255.254.0
!
And, To verify if the switch-port has proper desired vlan membership, use these commands
'show vlan' &
'show interface gigabitethernet 0/0/<x> switchport extensive'