Peterson was not a camp body.
He was an undrafted free agent, yes, he's a camp body. People overexagerrated him here a bit. He wasn't "underutilized" as much as he was just a bigger mediocre WR playing TE for us because we had no one else. He's best known for a gimmicky 4th down end-around play against Bama, a run if he finished a little harder would have resulted in a TD.
Look at our starting TE last year and this year. A converted WR who couldn't hack it there and a converted DE who couldn't hack it there. We are just not that talented at TE (other than blocking) currently. Although, the young bucks and soon to be incoming guys can definitely help that out.