There is very little information on this. For dwarves it goes like this:
"We hate orcs!" - "What about half orcs?"
"They are... Half as bad!"
From pathfinder wiki:
Half-orcs are generally considered little better than their full-blooded orc relatives and regarded with suspicion.
From Inner Sea Races (page 72), regarding dwarves, we got:
Dwarves and half-orcs rarely get along, due to the millenia of violence between dwarves and orcs. Many dwarves have difficult seeing anything other than their ancient enemy in half-orc's burly frame, sharp tusks, and green skin.
And again (page 104), regarding half-orcs:
Other humanoids, specially elves and dwarves, have too much hate for half-orcs's orc heritage to even bother remembering the human portions, and react with anything from distain to naked violence.
Also, check the wiki for more info on half-orcs on society. Most of that information was published on the Bastards of Golarion player companion, but the book has stuff not posted on the wiki, like information on half-orc heritages (half-orcs from darklands, half-orcs from the desert or jungle, etc).
XGtE is optional
It's important to remember that most of XGtE's content comprises optional rules, and this particular section on character generation is no exception. In fact, the opening on page 61 explicitly states:
IDEAS, NOT RULES
Even though these pages are full of tables and die rolls, they don’t make up a rules system — in fact, the opposite is true. You can use as much or as little of this material as you desire, and you can make decisions in any order you want.
Stretching that a little, we could infer it to mean that despite what might be implied by the options presented here, none of it should be taken as informing the actual rules of the game. It definitely doesn't help that this section of Xanathar's does contradict the racial history given for tieflings in their own description in the PHB. But if we want to take the content as presented and try and make it work, we could consider the variability of genetic expression.
All cambions are half-fiends (but not all half-fiends are cambions)
Simply put, though a cambion is a half-fiend and is always the result of union between a fiend and a humanoid, the union of a fiend and a humanoid does not always result in a cambion. Sometimes, when a devil and a humanoid procreate, perhaps the result looks more like a tiefling.
To draw a crude analogy to the real world, children of mixed race parents can vary wildly between strongly expressing the racial characteristics of one or the other parent or appearing somewhere in between - depending on exactly what random bits of genetics get passed on and in which combination. It's not even unusual for children from the same parents to appear to be completely different races!
Obviously the genetics of a fantasy world are much more complicated than ours could conceivably be (especially when you allow for magical factors). It is not much of a stretch to imagine that the children of a devil/humanoid pairing may sometimes express much more of their fiendish heritage (producing a cambion) and sometimes less (producing a tiefling).
What's the difference?
The general difference between a tiefling and a cambion is that a cambion is a very strong expression of fiendish ancestry that perhaps you can only get with one directly fiendish parent, but a tiefling is a much lesser expression of such ancestry which can also occur in descendants far removed from the original fiendish influence.
Best Answer
Yes, this is given as a half-orc parentage option in Xanathar's Guide to Everything
Chapter 1 of XGtE is all about helping you figure out your character's background and personality, and it includes a brief discussion about parentage. For the races with mixed backgrounds (half-elves, half-orcs and tieflings) there are tables you can use to choose or randomly determine the races of the character's parents, and the half-orc parents table indicates that a half-orc character could be born to any of the possible human/orc/half-orc pairings: a human and an orc, a human and a half-orc, a half-orc and an orc, or two half-orcs.
You shouldn't, however, take those tables as an exclusive list of options, especially since the tiefling parentage table doesn't even include the option that your parents might just have been two tieflings. A more interesting racial history should always be an option at the GM's discretion - one imagines, for example, that a orc/half-elf pairing should probably make a half-orc.
I think in previous editions there was lore suggesting that the half-orc traits were very persistent, and that the children of a half-orc tended to remain effectively half-orcs for a few generations after the original orcish or human addition. However the matter is not discussed in any 5e material that I'm aware of, and your DM is free to decide how the genetics of the combination works in their world.