This is far from impossible!
We don't even have a way to bring it home to pack. This is not an issue as we Have always kept the rig ready to go. Loaded wit a weeks worth of cloths both summer and winter. We keep it stocked with non pershabe food, and fill the propane on return. To leave we have a food tote empty the home refer and freezer, load the the 5ers refer, and hit the road.
We have a good storage yard about four miles from our house. I do normal maintenance at the yard. It is all about loading on return instead of doing just before leaving.