Just like without the 5er. Only instead of getting a room, I park in a campground if it is a big city. For small towns there is generally a place to park along the main drag. One of my favorite places to eat in Gila Bend has a big empty gravel lot behind it.
If I do want to go somewhere the 5er would cause a problem at, it only takes a minute or two to unhook and re-hook when we get back.
We have only done that once that I recall. We pulled into a RV park and asked just to leave the RV for a few hours while we visited with my Nephew. They said fine, no charge. We did wind up spending the night but that was not our original intent. In fact, we stayed two days.