We leave our Equalizer hitch and bars in the receiver when we are running solo during a camping trip. When we're at home the TV won't fit in the garage with the hitch on.
I found a backpack-looking bag at Lowes (black and grey) that will fit over the head when the bars are pushed up under the truck. This reduces shin/knee damage, and saves the grease stains on my pants. I secure it with bunge chords.
Obviously have a lock where the hitch goes into the truck receiver. Also slightly drilled out the pins that hold the bars in the sockets so that I can use a small keyed-alike lock in both of them so the bars don't walk off.
Frankly I would be more worried about the hitch being stolen in a campground than I would with it hooked to the truck.
And as others have said, I try to pay attention to where and how I park it with the hitch on. Backing into spots where there is no sidewalk or pathway works well.