I have left my 5th wheel hitch hanging on the pin many times. Especially if I am going to be at a campground for several days or weeks and want use of the bed or cover the bed with my Tonneau cover.
As for putting the hitch back into the pucks I do not find it any more difficult than hitching a conventional ball hitch trailer. With the help of the DW to guide me I am usually spot on.
I use the guide points I have in my rear window and windshield mirror and the center line on the trailer to guide me back. Then all the DW has to do is tell me when to stop backing.