I leave the umbilical hanging over the tailgate so I do not forget to plug it back in when leaving.
That did not save me from driving down the road with the trailer unplugged. My cord goes over the tailgate anyway and so it does not get my attention to see it over the tail gate.
I hang mine over the drivers side wheel-well so I can see it with the mirrors :)
I do not think it hurts the truck or RV to stay hooked up.
When I overnight in a rest area or truck stop I leave the slides in and will stay hooked up even if the refrigerator is slightly off level. I do not think 8-10 hours of slightly off level makes a difference.
I have occasionally stayed hooked up at RV parks when the site is level enough and I do not expect to stay long but hitching/unhitching is easy, quick, and frees the truck up to go get fuel or shopping, so most of the time even for a short stop I unhook.