We started tent camping with boat. Moved to a pop-up camper. Wife would tow it and I would to boat. We each would usually have one of our kids and a friend or two in vehicle with us.
Then we moved to a new truck and 5er. Similar situation except I towed 5er and she towed boat.
Kids got older and we found ourselves driving alone :-(. So we next moved to a class C. We either get a slip or lake front site and leave boat tied off to shore using an anchor buddy.
We have greatly minimized our camp site setup to make driving MH easier. No awning lights, small propane tank for grill/stove instead of using on board propane, quick disconnects on water line, keep inside picked up and mostly ready to roll.